May 13 03:15:43 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:43Z INFO server] GRPC EtherCAT Slave 2 | commands sent 492.39 cmd/s, commands dropped 0.83 req/s, command time: 2.03 (max 14.70) ms May 13 03:15:43 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:43Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.00363 req/s May 13 03:15:43 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:43Z INFO server] GRPC EtherCAT Slave 3 | commands sent 504.57 cmd/s, commands dropped 0.87 req/s, command time: 1.98 (max 14.75) ms May 13 03:15:43 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:43Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.99097 req/s May 13 03:15:43 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:43Z INFO server] GRPC EtherCAT Slave 4 | commands sent 494.24 cmd/s, commands dropped 0.93 req/s, command time: 2.02 (max 15.77) ms May 13 03:15:43 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:43Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.9974 req/s May 13 03:15:43 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:43Z INFO server] GRPC EtherCAT Slave 5 | commands sent 491.50 cmd/s, commands dropped 0.73 req/s, command time: 2.03 (max 14.68) ms May 13 03:15:43 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:43Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.00055 req/s May 13 03:15:43 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:43Z INFO server] GRPC EtherCAT Slave 6 | commands sent 505.77 cmd/s, commands dropped 0.87 req/s, command time: 1.98 (max 14.70) ms May 13 03:15:44 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:44Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 938.54 Hz May 13 03:15:54 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:15:54Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 928.64 Hz May 13 03:16:01 r2-0008 systemd[1]: Stopping Reachy2 Core... May 13 03:16:01 r2-0008 docker[54363]: Container core Stopping May 13 03:16:01 r2-0008 docker[54363]: Container core Stopping May 13 03:16:04 r2-0008 docker[47691]: core | [ethercat_master_server-1] [2026-05-13T01:16:04Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 933.20 Hz May 13 03:16:11 r2-0008 docker[54363]: Container core Stopped May 13 03:16:11 r2-0008 docker[54363]: Container core Removing May 13 03:16:11 r2-0008 docker[47691]: core exited with code 0 May 13 03:16:11 r2-0008 docker[54363]: Container core Removed May 13 03:16:11 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 13 03:16:11 r2-0008 systemd[1]: Stopped Reachy2 Core. May 13 03:16:11 r2-0008 systemd[1]: Starting Reachy2 Core... May 13 03:16:11 r2-0008 bash[54656]: What a clear sky to launch a [core] container May 13 03:16:11 r2-0008 systemd[1]: Started Reachy2 Core. May 13 03:16:11 r2-0008 docker[54695]: Container core Creating May 13 03:16:11 r2-0008 docker[54695]: Container core Created May 13 03:16:11 r2-0008 docker[54695]: Attaching to core May 13 03:16:12 r2-0008 docker[54695]: core | Input : Rode, Output: Rode May 13 03:16:12 r2-0008 docker[54695]: core | ALSA configuration generated with the following settings: May 13 03:16:12 r2-0008 docker[54695]: core | Sink Card: 1,0 May 13 03:16:12 r2-0008 docker[54695]: core | Source Card: 1,0 May 13 03:16:12 r2-0008 docker[54695]: core | Period Size: 512 May 13 03:16:12 r2-0008 docker[54695]: core | Buffer Size: 2048 May 13 03:16:12 r2-0008 docker[54695]: core | Sound config written to ~/.asoundrc May 13 03:16:12 r2-0008 docker[54695]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-13-01-16-12-695713-r2-0008-107 May 13 03:16:12 r2-0008 docker[54695]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 13 03:16:13 r2-0008 docker[54695]: core | No logs&bags to clear May 13 03:16:13 r2-0008 docker[54695]: core | [INFO] [launch.user]: May 13 03:16:13 r2-0008 docker[54695]: core | -------------------------------------------------- May 13 03:16:13 r2-0008 docker[54695]: core | Configuration May 13 03:16:13 r2-0008 docker[54695]: core | -------------------------------------------------- May 13 03:16:13 r2-0008 docker[54695]: core | May 13 03:16:13 r2-0008 docker[54695]: core | [reachy.yaml] configuration override May 13 03:16:13 r2-0008 docker[54695]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 13 03:16:13 r2-0008 docker[54695]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 03:16:13 r2-0008 docker[54695]: core | May 13 03:16:13 r2-0008 docker[54695]: core | Validating configuration files... May 13 03:16:13 r2-0008 docker[54695]: core | Reachy config loaded successfully May 13 03:16:13 r2-0008 docker[54695]: core | [INFO] [launch.user]: Reachy config : May 13 03:16:13 r2-0008 docker[54695]: core | robot_model full_kit May 13 03:16:13 r2-0008 docker[54695]: core | May 13 03:16:13 r2-0008 docker[54695]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 13 03:16:13 r2-0008 docker[54695]: core | [INFO] [launch.user]: Reachy URDF config : May 13 03:16:13 r2-0008 docker[54695]: core | depth_camera true May 13 03:16:13 r2-0008 docker[54695]: core | robot_config full_kit May 13 03:16:13 r2-0008 docker[54695]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 13 03:16:13 r2-0008 docker[54695]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 13 03:16:13 r2-0008 docker[54695]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 13 03:16:13 r2-0008 docker[54695]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 13 03:16:13 r2-0008 docker[54695]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 13 03:16:13 r2-0008 docker[54695]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 13 03:16:13 r2-0008 docker[54695]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 13 03:16:13 r2-0008 docker[54695]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 13 03:16:13 r2-0008 docker[54695]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 13 03:16:13 r2-0008 docker[54695]: core | robot_model "dvt" May 13 03:16:13 r2-0008 docker[54695]: core | May 13 03:16:13 r2-0008 docker[54695]: core | [INFO] [launch.user]: May 13 03:16:13 r2-0008 docker[54695]: core | -------------------------------------------------- May 13 03:16:13 r2-0008 docker[54695]: core | Launching nodes... May 13 03:16:13 r2-0008 docker[54695]: core | -------------------------------------------------- May 13 03:16:13 r2-0008 docker[54695]: core | May 13 03:16:13 r2-0008 docker[54695]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 13 03:16:13 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:13Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:16:14 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:14Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 13 03:16:14 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:14Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:16:14 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:14Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 13 03:16:14 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:14Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:16:14 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:14Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 13 03:16:14 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:14Z INFO server] POULPE controller ready! May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 13 03:16:17 r2-0008 docker[54695]: core | [ros2_control_node-2] [WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] Done! May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] New client - update period of 0.002s May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] Done! May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] New client - update period of 0.002s May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] Done! May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] New client - update period of 0.002s May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [291] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [281] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [hal-4]: process started with pid [283] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [fake_gz_interface-5]: process started with pid [285] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [robot_state_publisher-6]: process started with pid [287] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [289] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [293] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [component_container-10]: process started with pid [295] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [goto_server-11]: process started with pid [297] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [dynamic_state_router-12]: process started with pid [299] May 13 03:16:17 r2-0008 docker[54695]: core | [INFO] [rosbag-13]: process started with pid [301] May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 13 03:16:17 r2-0008 docker[54695]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0 May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] Done! May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] New client - update period of 0.002s May 13 03:16:17 r2-0008 docker[54695]: core | [robot_state_publisher-6] [WARN]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 03:16:17 r2-0008 docker[54695]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 13 03:16:17 r2-0008 docker[54695]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 13 03:16:17 r2-0008 docker[54695]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 13 03:16:17 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:17Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 13 03:16:17 r2-0008 docker[54695]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 13 03:16:17 r2-0008 docker[54695]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO server] Done! May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO server] New client - update period of 0.002s May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO server] Done! May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO server] New client - update period of 0.002s May 13 03:16:18 r2-0008 docker[54695]: core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz, May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO server] Done! May 13 03:16:18 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:18Z INFO server] New client - update period of 0.002s May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [05/13 01:16:18.298914][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 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [05/13 01:16:18.300352][info][295][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [05/13 01:16:18.300956][info][295][LinuxPal.cpp:32] createObPal: create LinuxPal! May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-13-01-16-12-695713-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Listening for topics... May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Recording... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [05/13 01:16:18.312777][info][295][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [05/13 01:16:18.312819][info][295][DeviceManager.cpp:15] Current found device(s): (1) May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [05/13 01:16:18.312827][info][295][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 13 03:16:18 r2-0008 docker[54695]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Connecting to the default device May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Select device cost 160 ms May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: current time domain: device May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Create align filter May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Depth process is HW D2D May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting LDP to ON May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting laser control to 1 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Available presets: May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Preset 0: Custom May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Preset 1: Default May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Load device preset: Default May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Device preset Default loaded May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: set DecimationFilter to false May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: set HDRMerge to false May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: set TemporalFilter to false May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Enable color stream May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Enable depth stream May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Enable frame sync May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Setting LDP to ON May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Current node pid: 295 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Start device cost 235 ms May 13 03:16:18 r2-0008 docker[54695]: core | [component_container-10] [INFO]: Initialize device cost 65 ms May 13 03:16:18 r2-0008 docker[54695]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 13 03:16:18 r2-0008 docker[54695]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 13 03:16:18 r2-0008 docker[54695]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:16:18 r2-0008 docker[54695]: core | [hal-4] [INFO]: Starting zuuu_hal! May 13 03:16:18 r2-0008 docker[54695]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 13 03:16:18 r2-0008 docker[54695]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 13 03:16:18 r2-0008 docker[54695]: core | [hal-4] May 13 03:16:18 r2-0008 docker[54695]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [WARN]: New publisher discovered on topic '/joint_states', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 03:16:18 r2-0008 docker[54695]: core | [ros2_control_node-2] [WARN]: New subscription discovered on topic '/joint_states', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 03:16:18 r2-0008 docker[54695]: core | [ros2_control_node-2] [WARN]: New subscription discovered on topic '/dynamic_joint_states', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [WARN]: New publisher discovered on topic '/dynamic_joint_states', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [WARN]: A new publisher for subscribed topic /joint_states was found offering RMW_QOS_POLICY_DURABILITY_VOLATILE, but rosbag2 already subscribed requesting RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL. Messages from this new publisher will not be recorded. May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [WARN]: A new publisher for subscribed topic /dynamic_joint_states was found offering RMW_QOS_POLICY_DURABILITY_VOLATILE, but rosbag2 already subscribed requesting RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL. Messages from this new publisher will not be recorded. May 13 03:16:18 r2-0008 docker[54695]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 13 03:16:18 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 13 03:16:18 r2-0008 docker[54695]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:16:19 r2-0008 docker[54695]: core | [hal-4] [INFO]: zuuu version: 1.2 May 13 03:16:19 r2-0008 docker[54695]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 13 03:16:19 r2-0008 docker[54695]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 13 03:16:19 r2-0008 docker[54695]: core | [hal-4] [WARN]: Battery voltage OK (25.8V) May 13 03:16:19 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 13 03:16:19 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 13 03:16:19 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 13 03:16:19 r2-0008 docker[54695]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 13 03:16:19 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 13 03:16:19 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 13 03:16:19 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 13 03:16:19 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: Setup done! May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - r_arm_forward_position_controller: ['r_shoulder_pitch', 'r_shoulder_roll', 'r_elbow_yaw', 'r_elbow_pitch', 'r_wrist_roll', 'r_wrist_pitch', 'r_wrist_yaw'] (position) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - l_arm_forward_position_controller: ['l_shoulder_pitch', 'l_shoulder_roll', 'l_elbow_yaw', 'l_elbow_pitch', 'l_wrist_roll', 'l_wrist_pitch', 'l_wrist_yaw'] (position) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - forward_torque_controller: ['neck', 'r_shoulder', 'r_elbow', 'r_wrist', 'r_hand', 'l_shoulder', 'l_elbow', 'l_wrist', 'l_hand', 'antenna_left', 'antenna_right'] (torque) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - forward_torque_limit_controller: ['neck_raw_motor_1', 'neck_raw_motor_2', 'neck_raw_motor_3', 'r_shoulder_raw_motor_1', 'r_shoulder_raw_motor_2', 'r_elbow_raw_motor_1', 'r_elbow_raw_motor_2', 'r_wrist_raw_motor_1', 'r_wrist_raw_motor_2', 'r_wrist_raw_motor_3', 'r_hand_raw_motor_1', 'l_shoulder_raw_motor_1', 'l_shoulder_raw_motor_2', 'l_elbow_raw_motor_1', 'l_elbow_raw_motor_2', 'l_wrist_raw_motor_1', 'l_wrist_raw_motor_2', 'l_wrist_raw_motor_3', 'l_hand_raw_motor_1', 'antenna_left_raw_motor', 'antenna_right_raw_motor'] (torque_limit) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - forward_speed_limit_controller: ['neck_raw_motor_1', 'neck_raw_motor_2', 'neck_raw_motor_3', 'r_shoulder_raw_motor_1', 'r_shoulder_raw_motor_2', 'r_elbow_raw_motor_1', 'r_elbow_raw_motor_2', 'r_wrist_raw_motor_1', 'r_wrist_raw_motor_2', 'r_wrist_raw_motor_3', 'r_hand_raw_motor_1', 'l_shoulder_raw_motor_1', 'l_shoulder_raw_motor_2', 'l_elbow_raw_motor_1', 'l_elbow_raw_motor_2', 'l_wrist_raw_motor_1', 'l_wrist_raw_motor_2', 'l_wrist_raw_motor_3', 'l_hand_raw_motor_1', 'antenna_left_raw_motor', 'antenna_right_raw_motor'] (speed_limit) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - forward_pid_controller: ['neck_raw_motor_1', 'neck_raw_motor_2', 'neck_raw_motor_3', 'r_shoulder_raw_motor_1', 'r_shoulder_raw_motor_2', 'r_elbow_raw_motor_1', 'r_elbow_raw_motor_2', 'r_wrist_raw_motor_1', 'r_wrist_raw_motor_2', 'r_wrist_raw_motor_3', 'r_hand_raw_motor_1', 'l_shoulder_raw_motor_1', 'l_shoulder_raw_motor_2', 'l_elbow_raw_motor_1', 'l_elbow_raw_motor_2', 'l_wrist_raw_motor_1', 'l_wrist_raw_motor_2', 'l_wrist_raw_motor_3', 'l_hand_raw_motor_1', 'antenna_left_raw_motor', 'antenna_right_raw_motor'] (pid) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 13 03:16:19 r2-0008 docker[54695]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 289] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [827] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [forward_torque_controller-14]: process started with pid [799] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [801] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [803] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [forward_pid_controller-17]: process started with pid [805] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [gripper_current_controller-18]: process started with pid [807] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [gripper_mode_controller-19]: process started with pid [809] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [antenna_current_controller-20]: process started with pid [811] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [antenna_mode_controller-21]: process started with pid [813] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [815] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [817] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [819] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [821] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [823] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [825] May 13 03:16:19 r2-0008 docker[54695]: core | [INFO] [rviz2-29]: process started with pid [829] May 13 03:16:19 r2-0008 docker[54695]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 13 03:16:20 r2-0008 docker[54695]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 13 03:16:20 r2-0008 docker[54695]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 13 03:16:20 r2-0008 docker[54695]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 13 03:16:20 r2-0008 docker[54695]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 13 03:16:20 r2-0008 docker[54695]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 13 03:16:20 r2-0008 docker[54695]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 13 03:16:20 r2-0008 docker[54695]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 13 03:16:20 r2-0008 docker[54695]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 817] May 13 03:16:20 r2-0008 docker[54695]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 13 03:16:20 r2-0008 docker[54695]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 13 03:16:20 r2-0008 docker[54695]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 13 03:16:20 r2-0008 docker[54695]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 13 03:16:20 r2-0008 docker[54695]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 13 03:16:20 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 13 03:16:20 r2-0008 docker[54695]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 13 03:16:20 r2-0008 docker[54695]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 13 03:16:20 r2-0008 docker[54695]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 13 03:16:20 r2-0008 docker[54695]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 13 03:16:20 r2-0008 docker[54695]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 13 03:16:20 r2-0008 docker[54695]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 13 03:16:20 r2-0008 docker[54695]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1231] May 13 03:16:20 r2-0008 docker[54695]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 819] May 13 03:16:21 r2-0008 docker[54695]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 13 03:16:21 r2-0008 docker[54695]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 809] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 815] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 825] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 801] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 803] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 823] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 807] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 821] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 811] May 13 03:16:21 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 799] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 813] May 13 03:16:21 r2-0008 docker[54695]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 805] May 13 03:16:21 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [PID 1231] Starting grpc server at 50051 May 13 03:16:21 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 13 03:16:21 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 03:16:21 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] May 13 03:16:21 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 1.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 26.793184280395508, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 26.845062255859375, 'speed_limit': 1.0, 'motor_currents': -5886.384765625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.00019296009850222617}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': 0.17451798915863037, 'velocity': -4.203895392974451e-45, 'effort': -18.98678970336914, 'axis_sensor': 0.17540717124938965, 'target_position': 0.17451798915863037}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow, id=4, type=orbita2d, extra={'name': 'l_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: 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': 29.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 23.399864196777344, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 26.3370361328125, 'speed_limit': 1.0, 'motor_currents': -3.235384941101074, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': -0.17398059368133545, 'velocity': -4.203895392974451e-45, 'effort': 7.921535968780518, 'axis_sensor': -0.16849040985107422, 'target_position': -0.17398059368133545}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_finger, id=8, type=unknown, extra={} state={'position': 2.270291566848755, 'velocity': 0.0, 'effort': 0.010759999975562096, 'target_position': 2.270291566848755}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': 0.00010019854380516335, 'velocity': -0.0, 'effort': 90.82984161376953, 'axis_sensor': -0.0036110877990722656, 'target_position': 0.00010019854380516335}) May 13 03:16:22 r2-0008 docker[54695]: 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 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow, id=11, type=orbita2d, extra={'name': 'r_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 23.361116409301758, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 25.81842041015625, 'speed_limit': 1.0, 'motor_currents': -25.541065216064453, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.17765191197395325, 'velocity': 4.203895392974451e-45, 'effort': 26.65423011779785, 'axis_sensor': -0.18659555912017822, 'target_position': 0.17765191197395325}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder, id=14, type=orbita2d, extra={'name': 'r_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: 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': 37.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 26.15586280822754, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.311248779296875, 'speed_limit': 1.0, 'motor_currents': 11.511489868164062, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder, id=17, type=orbita2d, extra={'name': 'l_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: 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': 30.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 26.99392318725586, 'motor_velocities': 2.6679179427446797e-05, 'torque_limit': 1.0, 'motor_temperature': 31.836700439453125, 'speed_limit': 1.0, 'motor_currents': -14433.87109375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.5524861216545105}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 24.410831451416016, 'motor_velocities': 4.203895392974451e-44, 'torque_limit': 1.0, 'motor_temperature': 28.352325439453125, 'speed_limit': 1.0, 'motor_currents': 3.874620199203491, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.015339851379394531}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.17432790994644165, 'velocity': 9.858675912255421e-05, 'effort': -27046.806640625, 'target_position': -0.17431892454624176}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 26.452899932861328, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.2105712890625, 'speed_limit': 1.0, 'motor_currents': 2607.817626953125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.011785507202148438}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 26.619861602783203, 'motor_velocities': -0.000532516569364816, 'torque_limit': 1.0, 'motor_temperature': 25.9078369140625, 'speed_limit': 1.0, 'motor_currents': -14233.8828125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0072682700119912624}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': 3.1803308957023546e-05, 'velocity': -3.5591813229984837e-07, 'effort': -35726.3359375, 'target_position': 3.1803308957023546e-05}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': -0.00010764530452433974, 'velocity': -1.9171618987456895e-05, 'effort': -182544.015625, 'target_position': -0.00011069140600739047}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck, id=27, type=orbita3d, extra={'name': 'neck', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 26.661470413208008, 'motor_velocities': -0.000601366104092449, 'torque_limit': 1.0, 'motor_temperature': 33.48712158203125, 'speed_limit': 1.0, 'motor_currents': -5529.71630859375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.5583257675170898}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': -0.0024902820587158203, 'velocity': -1.8216880036222622e-44, 'effort': 11.950092315673828, 'axis_sensor': -0.009547710418701172, 'target_position': -0.0024902820587158203}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=drivewhl1_joint, id=30, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'target_position': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 24.676509857177734, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 25.8662109375, 'speed_limit': 1.0, 'motor_currents': 6.283624649047852, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=drivewhl3_joint, id=32, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'target_position': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': -0.0003845829050987959, 'velocity': -3.2362495403504e-06, 'effort': 62326.17578125, 'target_position': -0.0003845829050987959}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=tripod_joint, id=34, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'effort': 0.0, 'target_position': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 26.00067710876465, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 29.151763916015625, 'speed_limit': 1.0, 'motor_currents': 4244.9736328125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.009045283310115337}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 25.05584716796875, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 25.949127197265625, 'speed_limit': 1.0, 'motor_currents': 21.435815811157227, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 27.154329299926758, 'motor_velocities': 0.0003344220167491585, 'torque_limit': 1.0, 'motor_temperature': 30.13018798828125, 'speed_limit': 1.0, 'motor_currents': -14262.5888671875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.008646011352539062}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=drivewhl2_joint, id=38, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'target_position': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.056757211685180664, 'velocity': 0.005022555589675903, 'effort': -1.9999999949504854e-06, 'torque': 1.0, 'target_position': -0.056757211685180664}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 26.7464656829834, 'motor_velocities': 0.00010575183114269748, 'torque_limit': 1.0, 'motor_temperature': 25.47601318359375, 'speed_limit': 1.0, 'motor_currents': -10044.5361328125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.011127789504826069}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist, id=41, type=orbita3d, extra={'name': 'r_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': 5.675465217791498e-06, 'velocity': -1.4509055290545803e-06, 'effort': 82746.640625, 'target_position': 2.274977305205539e-06}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist, id=43, type=orbita3d, extra={'name': 'l_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': -0.0005909107276238501, 'velocity': -9.604139705743364e-10, 'effort': -21829.3125, 'target_position': -0.0005909138126298785}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 25.927709579467773, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 29.363555908203125, 'speed_limit': 1.0, 'motor_currents': -7.460299968719482, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 1.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': 0.0003114819119218737, 'velocity': 6.670984930678969e-06, 'effort': -52688.80078125, 'target_position': 0.0003208520938642323}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -2.6978945243172348e-05, 'velocity': -8.407790785948902e-45, 'effort': 25.643434524536133, 'axis_sensor': -0.0008940696716308594, 'target_position': -2.6978945243172348e-05}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': -0.0004206205776426941, 'velocity': -4.203895392974451e-45, 'effort': 7.842800140380859, 'axis_sensor': -0.002440929412841797, 'target_position': -0.0004206205776426941}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': 0.0009132681298069656, 'velocity': -4.556240273956291e-09, 'effort': 33989.4921875, 'target_position': 0.0009132681298069656}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': -0.000522816670127213, 'velocity': 9.2095993750263e-05, 'effort': -1024.2242431640625, 'target_position': -0.000522816670127213}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 24.25550651550293, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 27.900634765625, 'speed_limit': 1.0, 'motor_currents': -7.264152526855469, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_finger, id=53, type=unknown, extra={} state={'position': 2.2687575817108154, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.2687575817108154}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 25.78160858154297, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 29.905792236328125, 'speed_limit': 1.0, 'motor_currents': -3887.1005859375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.00023937225341796875}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.17596334218978882, 'velocity': 8.407790785948902e-45, 'effort': 33.89958190917969, 'axis_sensor': -0.18551510572433472, 'target_position': -0.17596334218978882}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='r_arm', id=1, type='arm', components=[Component(name=r_shoulder, id=14, type=orbita2d, extra={'name': 'r_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), Component(name=r_elbow, id=11, type=orbita2d, extra={'name': 'r_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), Component(name=r_wrist, id=41, type=orbita3d, extra={'name': 'r_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})], components_dict={'shoulder': Component(name=r_shoulder, id=14, type=orbita2d, extra={'name': 'r_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), 'elbow': Component(name=r_elbow, id=11, type=orbita2d, extra={'name': 'r_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), 'wrist': Component(name=r_wrist, id=41, type=orbita3d, extra={'name': 'r_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='l_arm', id=2, type='arm', components=[Component(name=l_shoulder, id=17, type=orbita2d, extra={'name': 'l_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), Component(name=l_elbow, id=4, type=orbita2d, extra={'name': 'l_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), Component(name=l_wrist, id=43, type=orbita3d, extra={'name': 'l_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})], components_dict={'shoulder': Component(name=l_shoulder, id=17, type=orbita2d, extra={'name': 'l_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), 'elbow': Component(name=l_elbow, id=4, type=orbita2d, extra={'name': 'l_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), 'wrist': Component(name=l_wrist, id=43, type=orbita3d, extra={'name': 'l_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})}) May 13 03:16:22 r2-0008 docker[54695]: 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': 0.015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.015339851379394531}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.056757211685180664, 'velocity': 0.005022555589675903, 'effort': -1.9999999949504854e-06, 'torque': 1.0, 'target_position': -0.056757211685180664})], 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': 0.015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.015339851379394531}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.056757211685180664, 'velocity': 0.005022555589675903, 'effort': -1.9999999949504854e-06, 'torque': 1.0, 'target_position': -0.056757211685180664})}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='l_hand', id=4, type='hand', components=[Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})], components_dict={'hand': Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='r_hand', id=5, type='hand', components=[Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})], components_dict={'hand': Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] May 13 03:16:22 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 13 03:16:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:22Z INFO server] GRPC EtherCAT Slave 0 | commands sent 335.96 cmd/s, commands dropped 1.20 req/s, command time: 2.98 (max 1330.72) ms May 13 03:16:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:22Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.03238 req/s May 13 03:16:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:22Z INFO server] GRPC EtherCAT Slave 1 | commands sent 336.40 cmd/s, commands dropped 1.20 req/s, command time: 2.97 (max 1141.01) ms May 13 03:16:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:22Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.07224 req/s May 13 03:16:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:22Z INFO server] GRPC EtherCAT Slave 2 | commands sent 354.58 cmd/s, commands dropped 1.20 req/s, command time: 2.82 (max 938.33) ms May 13 03:16:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:22Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.04205 req/s May 13 03:16:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:22Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.07257 req/s May 13 03:16:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:22Z INFO server] GRPC EtherCAT Slave 3 | commands sent 395.59 cmd/s, commands dropped 1.00 req/s, command time: 2.53 (max 723.84) ms May 13 03:16:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:23Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.0797 req/s May 13 03:16:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:23Z INFO server] GRPC EtherCAT Slave 4 | commands sent 389.76 cmd/s, commands dropped 1.40 req/s, command time: 2.57 (max 708.38) ms May 13 03:16:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:23Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.08798 req/s May 13 03:16:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:23Z INFO server] GRPC EtherCAT Slave 5 | commands sent 399.33 cmd/s, commands dropped 0.80 req/s, command time: 2.50 (max 580.92) ms May 13 03:16:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:23Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.12744 req/s May 13 03:16:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:23Z INFO server] GRPC EtherCAT Slave 6 | commands sent 432.00 cmd/s, commands dropped 0.60 req/s, command time: 2.31 (max 463.08) ms May 13 03:16:23 r2-0008 docker[54695]: core | [INFO] [launch.user]: May 13 03:16:23 r2-0008 docker[54695]: core | -------------------------------------------------- May 13 03:16:23 r2-0008 docker[54695]: core | Node Watcher Report May 13 03:16:23 r2-0008 docker[54695]: core | Logging to /home/reachy/.ros/log/2026-05-13-01-16-12-695713-r2-0008-107 May 13 03:16:23 r2-0008 docker[54695]: core | Un-monitored nodes[11/26] May 13 03:16:23 r2-0008 docker[54695]: core | Failed[0/15]: [] May 13 03:16:23 r2-0008 docker[54695]: core | Success[15/15]: ['joint_state_broadcaster', 'antenna_forward_position_controller', 'tripod_forward_position_controller', 'gripper_mode_controller', 'neck_forward_position_controller', 'gripper_forward_position_controller', 'forward_torque_limit_controller', 'forward_speed_limit_controller', 'l_arm_forward_position_controller', 'gripper_current_controller', 'r_arm_forward_position_controller', 'antenna_current_controller', 'forward_torque_controller', 'antenna_mode_controller', 'forward_pid_controller'] May 13 03:16:23 r2-0008 docker[54695]: core | -------------------------------------------------- May 13 03:16:23 r2-0008 docker[54695]: core | May 13 03:16:23 r2-0008 docker[54695]: core | [INFO] [aplay-31]: process details: cmd='aplay /home/reachy/dev/reachy2_sounds/MA_BANT_GAME_PACK_2.wav', cwd='None', custom_env?=True May 13 03:16:23 r2-0008 docker[54695]: core | [INFO] [aplay-31]: process started with pid [1317] May 13 03:16:23 r2-0008 docker[54695]: core | [aplay-31] Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_GAME_PACK_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo May 13 03:16:24 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:24Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 928.29 Hz May 13 03:16:24 r2-0008 docker[54695]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1317] May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] **************************************** May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 28.391ms May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] **************************************** May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 13 03:16:26 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 13 03:16:26 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 13 03:16:26 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 13 03:16:26 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 13 03:16:26 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 13 03:16:26 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 13 03:16:26 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 13 03:16:26 r2-0008 docker[54695]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 13 03:16:26 r2-0008 docker[54695]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 13 03:16:26 r2-0008 docker[54695]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 13 03:16:26 r2-0008 docker[54695]: core | [goto_server-11] [INFO]: Goto action server head init. May 13 03:16:26 r2-0008 docker[54695]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 13 03:16:26 r2-0008 docker[54695]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 13 03:16:26 r2-0008 docker[54695]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 13 03:16:26 r2-0008 docker[54695]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 13 03:16:26 r2-0008 docker[54695]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [PID 1231] Ready to start May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 13 03:16:26 r2-0008 docker[54695]: core | [reachy_grpc_joint_sdk_server-30] [PID 1231] Server started on port 50051. May 13 03:16:34 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:34Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 936.45 Hz May 13 03:16:44 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:44Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 939.64 Hz May 13 03:16:52 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:52Z INFO server] GRPC EtherCAT Slave 0 | commands sent 504.65 cmd/s, commands dropped 1.23 req/s, command time: 1.98 (max 14.98) ms May 13 03:16:52 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:52Z INFO server] GRPC EtherCAT Slave 0 | states sent 499.99686 req/s May 13 03:16:52 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:52Z INFO server] GRPC EtherCAT Slave 1 | commands sent 491.53 cmd/s, commands dropped 1.33 req/s, command time: 2.03 (max 15.01) ms May 13 03:16:52 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:52Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99762 req/s May 13 03:16:52 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:52Z INFO server] GRPC EtherCAT Slave 2 | commands sent 491.99 cmd/s, commands dropped 1.23 req/s, command time: 2.03 (max 15.22) ms May 13 03:16:52 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:52Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.0084 req/s May 13 03:16:52 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:52Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.00204 req/s May 13 03:16:52 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:52Z INFO server] GRPC EtherCAT Slave 3 | commands sent 505.77 cmd/s, commands dropped 1.17 req/s, command time: 1.98 (max 15.06) ms May 13 03:16:53 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:53Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.99442 req/s May 13 03:16:53 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:53Z INFO server] GRPC EtherCAT Slave 4 | commands sent 493.04 cmd/s, commands dropped 1.23 req/s, command time: 2.03 (max 15.04) ms May 13 03:16:53 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:53Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.99866 req/s May 13 03:16:53 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:53Z INFO server] GRPC EtherCAT Slave 5 | commands sent 492.86 cmd/s, commands dropped 1.17 req/s, command time: 2.03 (max 14.98) ms May 13 03:16:53 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:53Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99823 req/s May 13 03:16:53 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:53Z INFO server] GRPC EtherCAT Slave 6 | commands sent 513.03 cmd/s, commands dropped 0.97 req/s, command time: 1.95 (max 14.96) ms May 13 03:16:54 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:16:54Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 937.29 Hz May 13 03:17:04 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:04Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 933.79 Hz May 13 03:17:07 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 13 03:17:07 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 13 03:17:07 r2-0008 docker[54695]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 13 03:17:14 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:14Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 935.44 Hz May 13 03:17:19 r2-0008 docker[54695]: core | [hal-4] [WARN]: Battery voltage OK (25.7V) May 13 03:17:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:22Z INFO server] GRPC EtherCAT Slave 0 | commands sent 505.43 cmd/s, commands dropped 0.93 req/s, command time: 1.98 (max 15.57) ms May 13 03:17:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:22Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.00403 req/s May 13 03:17:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:22Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.9948 req/s May 13 03:17:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:22Z INFO server] GRPC EtherCAT Slave 1 | commands sent 492.34 cmd/s, commands dropped 1.00 req/s, command time: 2.03 (max 14.14) ms May 13 03:17:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:22Z INFO server] GRPC EtherCAT Slave 2 | commands sent 491.87 cmd/s, commands dropped 1.10 req/s, command time: 2.03 (max 15.02) ms May 13 03:17:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:22Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.9998 req/s May 13 03:17:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:22Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.99823 req/s May 13 03:17:22 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:22Z INFO server] GRPC EtherCAT Slave 3 | commands sent 504.07 cmd/s, commands dropped 0.53 req/s, command time: 1.98 (max 13.94) ms May 13 03:17:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:23Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.01093 req/s May 13 03:17:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:23Z INFO server] GRPC EtherCAT Slave 4 | commands sent 492.60 cmd/s, commands dropped 0.90 req/s, command time: 2.03 (max 16.48) ms May 13 03:17:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:23Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.99918 req/s May 13 03:17:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:23Z INFO server] GRPC EtherCAT Slave 5 | commands sent 492.27 cmd/s, commands dropped 0.63 req/s, command time: 2.03 (max 14.02) ms May 13 03:17:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:23Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99753 req/s May 13 03:17:23 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:23Z INFO server] GRPC EtherCAT Slave 6 | commands sent 512.98 cmd/s, commands dropped 0.53 req/s, command time: 1.95 (max 14.15) ms May 13 03:17:24 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:24Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 937.06 Hz May 13 03:17:34 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:34Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 935.47 Hz May 13 03:17:44 r2-0008 docker[54695]: core | [ethercat_master_server-1] [2026-05-13T01:17:44Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 939.14 Hz