bedrock@r2-0008:~$ journalctl -fu reachy2-core May 07 03:02:08 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:08Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 07 03:02:08 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:08Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:08 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:08Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 07 03:02:08 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:08Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:08 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:08Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 07 03:02:08 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:08Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:08 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:08Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 07 03:02:08 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:08Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:09 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:09Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 07 03:02:09 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:09Z INFO server] POULPE controller ready! May 07 03:02:11 r2-0008 docker[82610]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 07 03:02:12 r2-0008 docker[82610]: 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 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Done! May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] New client - update period of 0.002s May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Done! May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] New client - update period of 0.002s May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Done! May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] New client - update period of 0.002s May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [291] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [281] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [hal-4]: process started with pid [283] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [fake_gz_interface-5]: process started with pid [285] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [robot_state_publisher-6]: process started with pid [287] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [289] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [293] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [component_container-10]: process started with pid [295] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [goto_server-11]: process started with pid [297] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [dynamic_state_router-12]: process started with pid [299] May 07 03:02:12 r2-0008 docker[82610]: core | [INFO] [rosbag-13]: process started with pid [301] May 07 03:02:12 r2-0008 docker[82610]: 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 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Done! May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] New client - update period of 0.002s May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Done! May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] New client - update period of 0.002s May 07 03:02:12 r2-0008 docker[82610]: 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 07 03:02:12 r2-0008 docker[82610]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 07 03:02:12 r2-0008 docker[82610]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 07 03:02:12 r2-0008 docker[82610]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 07 03:02:12 r2-0008 docker[82610]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 07 03:02:12 r2-0008 docker[82610]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Done! May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] New client - update period of 0.002s May 07 03:02:12 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 07 03:02:12 r2-0008 docker[82610]: 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 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] Done! May 07 03:02:12 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:12Z INFO server] New client - update period of 0.002s May 07 03:02:12 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 07 03:02:12 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 07 03:02:12 r2-0008 docker[82610]: core | [component_container-10] [05/07 01:02:12.992804][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 07 03:02:12 r2-0008 docker[82610]: core | [component_container-10] [05/07 01:02:12.993714][info][295][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 07 03:02:12 r2-0008 docker[82610]: core | [component_container-10] [05/07 01:02:12.994388][info][295][LinuxPal.cpp:32] createObPal: create LinuxPal! May 07 03:02:12 r2-0008 docker[82610]: core | [component_container-10] [05/07 01:02:12.998081][info][295][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 07 03:02:12 r2-0008 docker[82610]: core | [component_container-10] [05/07 01:02:12.998125][info][295][DeviceManager.cpp:15] Current found device(s): (1) May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [05/07 01:02:12.998134][info][295][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 07 03:02:13 r2-0008 docker[82610]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Connecting to the default device May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-07-01-02-07-392056-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Listening for topics... May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Recording... May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Select device cost 181 ms May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: current time domain: device May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Create align filter May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Depth process is HW D2D May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting LDP to ON May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting laser control to 1 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Available presets: May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Preset 0: Custom May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Preset 1: Default May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Load device preset: Default May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Device preset Default loaded May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: set DecimationFilter to false May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: set HDRMerge to false May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: set TemporalFilter to false May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Enable color stream May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Enable depth stream May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Enable frame sync May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Setting LDP to ON May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Current node pid: 295 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Start device cost 273 ms May 07 03:02:13 r2-0008 docker[82610]: core | [component_container-10] [INFO]: Initialize device cost 80 ms May 07 03:02:13 r2-0008 docker[82610]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 07 03:02:13 r2-0008 docker[82610]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 07 03:02:13 r2-0008 docker[82610]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:02:13 r2-0008 docker[82610]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 07 03:02:13 r2-0008 docker[82610]: 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 07 03:02:13 r2-0008 docker[82610]: 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 07 03:02:13 r2-0008 docker[82610]: 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 07 03:02:13 r2-0008 docker[82610]: 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 07 03:02:13 r2-0008 docker[82610]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 07 03:02:13 r2-0008 docker[82610]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:02:13 r2-0008 docker[82610]: core | [hal-4] [INFO]: Starting zuuu_hal! May 07 03:02:13 r2-0008 docker[82610]: 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 07 03:02:13 r2-0008 docker[82610]: 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 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 07 03:02:13 r2-0008 docker[82610]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 07 03:02:13 r2-0008 docker[82610]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 07 03:02:13 r2-0008 docker[82610]: core | [hal-4] May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 07 03:02:13 r2-0008 docker[82610]: core | [hal-4] [INFO]: zuuu version: 1.2 May 07 03:02:13 r2-0008 docker[82610]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 07 03:02:13 r2-0008 docker[82610]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 07 03:02:13 r2-0008 docker[82610]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 07 03:02:13 r2-0008 docker[82610]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 07 03:02:13 r2-0008 docker[82610]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 07 03:02:13 r2-0008 docker[82610]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 07 03:02:13 r2-0008 docker[82610]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 07 03:02:13 r2-0008 docker[82610]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 07 03:02:13 r2-0008 docker[82610]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 07 03:02:13 r2-0008 docker[82610]: core | [hal-4] [WARN]: Battery voltage OK (25.5V) May 07 03:02:13 r2-0008 docker[82610]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 07 03:02:13 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 289] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [825] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [forward_torque_controller-14]: process started with pid [797] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [799] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [801] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [forward_pid_controller-17]: process started with pid [803] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [gripper_current_controller-18]: process started with pid [805] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [gripper_mode_controller-19]: process started with pid [807] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [antenna_current_controller-20]: process started with pid [809] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [antenna_mode_controller-21]: process started with pid [811] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [813] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [815] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [817] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [819] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [821] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [823] May 07 03:02:14 r2-0008 docker[82610]: core | [INFO] [rviz2-29]: process started with pid [827] May 07 03:02:14 r2-0008 docker[82610]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 07 03:02:14 r2-0008 docker[82610]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 07 03:02:14 r2-0008 docker[82610]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 07 03:02:15 r2-0008 docker[82610]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 07 03:02:15 r2-0008 docker[82610]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 07 03:02:15 r2-0008 docker[82610]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 07 03:02:15 r2-0008 docker[82610]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 07 03:02:15 r2-0008 docker[82610]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 07 03:02:15 r2-0008 docker[82610]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 07 03:02:15 r2-0008 docker[82610]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 07 03:02:15 r2-0008 docker[82610]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 07 03:02:15 r2-0008 docker[82610]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 07 03:02:15 r2-0008 docker[82610]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 07 03:02:15 r2-0008 docker[82610]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 07 03:02:15 r2-0008 docker[82610]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 07 03:02:15 r2-0008 docker[82610]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 07 03:02:15 r2-0008 docker[82610]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 07 03:02:15 r2-0008 docker[82610]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 07 03:02:15 r2-0008 docker[82610]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 07 03:02:15 r2-0008 docker[82610]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 07 03:02:15 r2-0008 docker[82610]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 07 03:02:15 r2-0008 docker[82610]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 07 03:02:15 r2-0008 docker[82610]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1244] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 801] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 805] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 821] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 817] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 811] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 803] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 797] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 807] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 799] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 813] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 823] May 07 03:02:15 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 809] May 07 03:02:15 r2-0008 docker[82610]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 819] May 07 03:02:16 r2-0008 docker[82610]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 815] May 07 03:02:16 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [PID 1244] Starting grpc server at 50051 May 07 03:02:16 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:02:16 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:02:16 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] May 07 03:02:16 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 07 03:02:16 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 0 | commands sent 340.79 cmd/s, commands dropped 0.20 req/s, command time: 2.93 (max 1315.63) ms May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.0527 req/s May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.13113 req/s May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 1 | commands sent 342.96 cmd/s, commands dropped 0.20 req/s, command time: 2.92 (max 1132.88) ms May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.16556 req/s May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 2 | commands sent 360.51 cmd/s, commands dropped 0.20 req/s, command time: 2.77 (max 928.53) ms May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.11215 req/s May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 3 | commands sent 396.06 cmd/s, commands dropped 0.20 req/s, command time: 2.52 (max 811.22) ms May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.1698 req/s May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 4 | commands sent 384.93 cmd/s, commands dropped 0.00 req/s, command time: 2.60 (max 706.17) ms May 07 03:02:17 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.0934 req/s May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 5 | commands sent 407.16 cmd/s, commands dropped 0.60 req/s, command time: 2.46 (max 587.91) ms May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.1497 req/s May 07 03:02:17 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:17Z INFO server] GRPC EtherCAT Slave 6 | commands sent 431.14 cmd/s, commands dropped 0.60 req/s, command time: 2.32 (max 463.92) ms May 07 03:02:18 r2-0008 docker[82610]: core | [INFO] [launch.user]: May 07 03:02:18 r2-0008 docker[82610]: core | -------------------------------------------------- May 07 03:02:18 r2-0008 docker[82610]: core | Node Watcher Report May 07 03:02:18 r2-0008 docker[82610]: core | Logging to /home/reachy/.ros/log/2026-05-07-01-02-07-392056-r2-0008-107 May 07 03:02:18 r2-0008 docker[82610]: core | Un-monitored nodes[11/26] May 07 03:02:18 r2-0008 docker[82610]: core | Failed[0/15]: [] May 07 03:02:18 r2-0008 docker[82610]: core | Success[15/15]: ['joint_state_broadcaster', 'forward_speed_limit_controller', 'gripper_current_controller', 'l_arm_forward_position_controller', 'tripod_forward_position_controller', 'antenna_mode_controller', 'forward_pid_controller', 'forward_torque_controller', 'gripper_mode_controller', 'forward_torque_limit_controller', 'neck_forward_position_controller', 'gripper_forward_position_controller', 'antenna_current_controller', 'r_arm_forward_position_controller', 'antenna_forward_position_controller'] May 07 03:02:18 r2-0008 docker[82610]: core | -------------------------------------------------- May 07 03:02:18 r2-0008 docker[82610]: core | May 07 03:02:18 r2-0008 docker[82610]: 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 07 03:02:18 r2-0008 docker[82610]: core | [INFO] [aplay-31]: process started with pid [1317] May 07 03:02:18 r2-0008 docker[82610]: 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 07 03:02:18 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:02:18 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:18Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 928.66 Hz May 07 03:02:19 r2-0008 docker[82610]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1317] May 07 03:02:19 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: Setup done! May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 07 03:02:20 r2-0008 docker[82610]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 27.637ms May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 07 03:02:20 r2-0008 docker[82610]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 07 03:02:20 r2-0008 docker[82610]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 07 03:02:20 r2-0008 docker[82610]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 26.856624603271484, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 28.6885986328125, 'speed_limit': 1.0, 'motor_currents': 14074.8798828125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -1.9292913675308228}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': -0.31605684757232666, 'velocity': 4.203895392974451e-45, 'effort': 45.91081237792969, 'axis_sensor': -0.31345343589782715, 'target_position': -0.31605684757232666}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_raw_motor_1, id=5, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 75.56999969482422, 'temperature': 30.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 23.447500228881836, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 28.11578369140625, 'speed_limit': 1.0, 'motor_currents': -18.312686920166016, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': 0.08872870355844498, 'velocity': 4.203895392974451e-45, 'effort': 115.04093170166016, 'axis_sensor': 0.08952951431274414, 'target_position': 0.08872870355844498}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_finger, id=8, type=unknown, extra={} state={'position': 2.267223596572876, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.267223596572876}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': -0.2481747269630432, 'velocity': -8.407790785948902e-45, 'effort': -31.725749969482422, 'axis_sensor': -0.2475285530090332, 'target_position': -0.2481747269630432}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 23.38639259338379, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.59234619140625, 'speed_limit': 1.0, 'motor_currents': -21.914186477661133, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.25013798475265503, 'velocity': 0.0, 'effort': 1.9382654428482056, 'axis_sensor': -0.249109148979187, 'target_position': 0.25013798475265503}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right_raw_motor, id=15, type=unknown, extra={} state={'torque_limit': 0.30000001192092896, 'speed_limit': 38.84902572631836, 'temperature': 40.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 26.991283416748047, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 34.77532958984375, 'speed_limit': 1.0, 'motor_currents': -16.386934280395508, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left_raw_motor, id=18, type=unknown, extra={} state={'torque_limit': 0.30000001192092896, 'speed_limit': 38.84902572631836, 'temperature': 34.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 27.719545364379883, 'motor_velocities': -1.1943247280044034e-08, 'torque_limit': 1.0, 'motor_temperature': 37.2142333984375, 'speed_limit': 1.0, 'motor_currents': -14429.9189453125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.5536365509033203}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 25.391048431396484, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 33.195953369140625, 'speed_limit': 1.0, 'motor_currents': -8.639183044433594, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.018407821655273438, 'velocity': 0.0, 'effort': 0.0, 'torque': 0.0, 'target_position': 0.018407821655273438}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.17353282868862152, 'velocity': -6.191646389197558e-05, 'effort': -86849.3515625, 'target_position': -0.17353282868862152}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 26.33832359313965, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.782440185546875, 'speed_limit': 1.0, 'motor_currents': 14674.6162109375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -3.988697052001953}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 26.431568145751953, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 27.20159912109375, 'speed_limit': 1.0, 'motor_currents': 13691.271484375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 1.368029236793518}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': -0.06920617818832397, 'velocity': -1.2611686178923354e-44, 'effort': 77020.6015625, 'target_position': -0.06920617818832397}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': -0.0009989087702706456, 'velocity': 1.410916775057558e-05, 'effort': -57944.375, 'target_position': -0.0009989087702706456}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 27.443201065063477, 'motor_velocities': 0.00022524085943587124, 'torque_limit': 1.0, 'motor_temperature': 32.96673583984375, 'speed_limit': 1.0, 'motor_currents': 14213.33984375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.5418345332145691}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': 0.05313321202993393, 'velocity': -4.203895392974451e-45, 'effort': 31.82610321044922, 'axis_sensor': 0.053441524505615234, 'target_position': 0.05313321202993393}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 24.593626022338867, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 27.598785400390625, 'speed_limit': 1.0, 'motor_currents': -4.795043468475342, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': 0.2560942471027374, 'velocity': 8.407790785948902e-45, 'effort': -72544.9140625, 'target_position': 0.2560942471027374}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 26.22377586364746, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 30.687652587890625, 'speed_limit': 1.0, 'motor_currents': -14532.4228515625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.6467711329460144}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 24.95143699645996, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 27.963714599609375, 'speed_limit': 1.0, 'motor_currents': -40.86824035644531, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 27.70096206665039, 'motor_velocities': -1.7938096789293922e-05, 'torque_limit': 1.0, 'motor_temperature': 35.350830078125, 'speed_limit': 1.0, 'motor_currents': -10649.119140625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.023603439331054688}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 0.0, 'target_position': -0.0015339851379394531}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 26.677553176879883, 'motor_velocities': -9.10844001811131e-44, 'torque_limit': 1.0, 'motor_temperature': 27.373382568359375, 'speed_limit': 1.0, 'motor_currents': 14061.375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -1.4151893854141235}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': -0.435825914144516, 'velocity': 0.0, 'effort': -228612.09375, 'target_position': -0.435825914144516}) May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': 0.2755422592163086, 'velocity': 2.802596928649634e-45, 'effort': -7412.67333984375, 'target_position': 0.2755422592163086}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 26.784629821777344, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 34.86700439453125, 'speed_limit': 1.0, 'motor_currents': -8.448484420776367, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': -0.13469809293746948, 'velocity': 0.0, 'effort': -30830.291015625, 'target_position': -0.13469809293746948}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -0.44597965478897095, 'velocity': 8.407790785948902e-45, 'effort': 28.07590675354004, 'axis_sensor': -0.4480767250061035, 'target_position': -0.44597965478897095}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': -0.0030634277500212193, 'velocity': 0.0, 'effort': -17.010623931884766, 'axis_sensor': -0.0022971630096435547, 'target_position': -0.0030634277500212193}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': 0.19009339809417725, 'velocity': 1.401298464324817e-45, 'effort': -70151.6796875, 'target_position': 0.19009339809417725}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': -0.0008353255689144135, 'velocity': -4.1392479033675045e-05, 'effort': -40834.91015625, 'target_position': -0.0008317119209095836}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 25.245891571044922, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 32.445220947265625, 'speed_limit': 1.0, 'motor_currents': 6.279839992523193, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_finger, id=53, type=unknown, extra={} state={'position': 2.267223596572876, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.267223596572876}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 25.65144920349121, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 31.815582275390625, 'speed_limit': 1.0, 'motor_currents': 14497.71484375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -2.649873971939087}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.3001549541950226, 'velocity': -1.2611686178923354e-44, 'effort': -41.87031936645508, 'axis_sensor': -0.29750269651412964, 'target_position': -0.3001549541950226}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: 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 07 03:02:20 r2-0008 docker[82610]: 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': 0.018407821655273438, 'velocity': 0.0, 'effort': 0.0, 'torque': 0.0, 'target_position': 0.018407821655273438}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 0.0, 'target_position': -0.0015339851379394531})], 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': 0.018407821655273438, 'velocity': 0.0, 'effort': 0.0, 'torque': 0.0, 'target_position': 0.018407821655273438}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 0.0, 'target_position': -0.0015339851379394531})}) May 07 03:02:20 r2-0008 docker[82610]: 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': 0.0})], components_dict={'hand': Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 0.0})}) May 07 03:02:20 r2-0008 docker[82610]: 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': 0.0})], components_dict={'hand': Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 0.0})}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 07 03:02:20 r2-0008 docker[82610]: core | [goto_server-11] [INFO]: Goto action server head init. May 07 03:02:20 r2-0008 docker[82610]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 07 03:02:20 r2-0008 docker[82610]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 07 03:02:20 r2-0008 docker[82610]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 07 03:02:20 r2-0008 docker[82610]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 07 03:02:20 r2-0008 docker[82610]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 07 03:02:20 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 07 03:02:26 r2-0008 systemd[1]: Stopping Reachy2 Core... May 07 03:02:26 r2-0008 docker[84731]: Container core Stopping May 07 03:02:26 r2-0008 docker[84731]: Container core Stopping May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [PID 1244] Ready to start May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 07 03:02:26 r2-0008 docker[82610]: core | [reachy_grpc_joint_sdk_server-30] [PID 1244] Server started on port 50051. May 07 03:02:28 r2-0008 docker[82610]: core | [ethercat_master_server-1] [2026-05-07T01:02:28Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 937.38 Hz May 07 03:02:36 r2-0008 docker[84731]: Container core Stopped May 07 03:02:36 r2-0008 docker[84731]: Container core Removing May 07 03:02:36 r2-0008 docker[82610]: core exited with code 0 May 07 03:02:36 r2-0008 docker[84731]: Container core Removed May 07 03:02:36 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 07 03:02:36 r2-0008 systemd[1]: Stopped Reachy2 Core. May 07 03:02:36 r2-0008 systemd[1]: Starting Reachy2 Core... May 07 03:02:36 r2-0008 bash[85147]: What a clear sky to launch a [core] container May 07 03:02:36 r2-0008 systemd[1]: Started Reachy2 Core. May 07 03:02:36 r2-0008 docker[85191]: Container core Creating May 07 03:02:36 r2-0008 docker[85191]: Container core Created May 07 03:02:36 r2-0008 docker[85191]: Attaching to core May 07 03:02:37 r2-0008 docker[85191]: core | Input : Rode, Output: Rode May 07 03:02:37 r2-0008 docker[85191]: core | ALSA configuration generated with the following settings: May 07 03:02:37 r2-0008 docker[85191]: core | Sink Card: 1,0 May 07 03:02:37 r2-0008 docker[85191]: core | Source Card: 1,0 May 07 03:02:37 r2-0008 docker[85191]: core | Period Size: 512 May 07 03:02:37 r2-0008 docker[85191]: core | Buffer Size: 2048 May 07 03:02:37 r2-0008 docker[85191]: core | Sound config written to ~/.asoundrc May 07 03:02:43 r2-0008 docker[85191]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-07-01-02-43-745647-r2-0008-107 May 07 03:02:43 r2-0008 docker[85191]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 07 03:02:44 r2-0008 docker[85191]: core | No logs&bags to clear May 07 03:02:44 r2-0008 docker[85191]: core | [INFO] [launch.user]: May 07 03:02:44 r2-0008 docker[85191]: core | -------------------------------------------------- May 07 03:02:44 r2-0008 docker[85191]: core | Configuration May 07 03:02:44 r2-0008 docker[85191]: core | -------------------------------------------------- May 07 03:02:44 r2-0008 docker[85191]: core | May 07 03:02:44 r2-0008 docker[85191]: core | [reachy.yaml] configuration override May 07 03:02:44 r2-0008 docker[85191]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:02:44 r2-0008 docker[85191]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:02:44 r2-0008 docker[85191]: core | May 07 03:02:44 r2-0008 docker[85191]: core | Validating configuration files... May 07 03:02:44 r2-0008 docker[85191]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 07 03:02:44 r2-0008 docker[85191]: core | Reachy config loaded successfully May 07 03:02:44 r2-0008 docker[85191]: core | [INFO] [launch.user]: Reachy config : May 07 03:02:44 r2-0008 docker[85191]: core | robot_model full_kit May 07 03:02:44 r2-0008 docker[85191]: core | May 07 03:02:44 r2-0008 docker[85191]: core | [INFO] [launch.user]: Reachy URDF config : May 07 03:02:44 r2-0008 docker[85191]: core | depth_camera true May 07 03:02:44 r2-0008 docker[85191]: core | robot_config full_kit May 07 03:02:44 r2-0008 docker[85191]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 07 03:02:44 r2-0008 docker[85191]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 07 03:02:44 r2-0008 docker[85191]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 07 03:02:44 r2-0008 docker[85191]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 07 03:02:44 r2-0008 docker[85191]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 07 03:02:44 r2-0008 docker[85191]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 07 03:02:44 r2-0008 docker[85191]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 07 03:02:44 r2-0008 docker[85191]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 07 03:02:44 r2-0008 docker[85191]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 07 03:02:44 r2-0008 docker[85191]: core | robot_model "dvt" May 07 03:02:44 r2-0008 docker[85191]: core | May 07 03:02:44 r2-0008 docker[85191]: core | [INFO] [launch.user]: May 07 03:02:44 r2-0008 docker[85191]: core | -------------------------------------------------- May 07 03:02:44 r2-0008 docker[85191]: core | Launching nodes... May 07 03:02:44 r2-0008 docker[85191]: core | -------------------------------------------------- May 07 03:02:44 r2-0008 docker[85191]: core | May 07 03:02:44 r2-0008 docker[85191]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:44 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:44Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 07 03:02:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:45Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:45Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 07 03:02:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:45Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:45Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 07 03:02:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:45Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:45Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 07 03:02:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:45Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:02:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:45Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 07 03:02:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:45Z INFO server] POULPE controller ready! May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 07 03:02:48 r2-0008 docker[85191]: 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 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] Done! May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] New client - update period of 0.002s May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] Done! May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] New client - update period of 0.002s May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] Done! May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] New client - update period of 0.002s May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [324] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [281] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [hal-4]: process started with pid [283] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [fake_gz_interface-5]: process started with pid [301] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [robot_state_publisher-6]: process started with pid [303] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [314] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [335] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [component_container-10]: process started with pid [343] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [goto_server-11]: process started with pid [345] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [dynamic_state_router-12]: process started with pid [347] May 07 03:02:48 r2-0008 docker[85191]: core | [INFO] [rosbag-13]: process started with pid [349] May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] Done! May 07 03:02:48 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:48Z INFO server] New client - update period of 0.002s May 07 03:02:48 r2-0008 docker[85191]: 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 07 03:02:49 r2-0008 docker[85191]: 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 07 03:02:49 r2-0008 docker[85191]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 07 03:02:49 r2-0008 docker[85191]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 07 03:02:49 r2-0008 docker[85191]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO server] Done! May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO server] New client - update period of 0.002s May 07 03:02:49 r2-0008 docker[85191]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 07 03:02:49 r2-0008 docker[85191]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO server] Done! May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO server] New client - update period of 0.002s May 07 03:02:49 r2-0008 docker[85191]: 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 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [05/07 01:02:49.376891][info][343][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [05/07 01:02:49.385387][info][343][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [05/07 01:02:49.386210][info][343][LinuxPal.cpp:32] createObPal: create LinuxPal! May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [05/07 01:02:49.397499][info][343][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [05/07 01:02:49.397543][info][343][DeviceManager.cpp:15] Current found device(s): (1) May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [05/07 01:02:49.397552][info][343][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 07 03:02:49 r2-0008 docker[85191]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Connecting to the default device May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO server] Done! May 07 03:02:49 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:49Z INFO server] New client - update period of 0.002s May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-07-01-02-43-745647-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Listening for topics... May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Recording... May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Select device cost 171 ms May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: current time domain: device May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Create align filter May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Depth process is HW D2D May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting LDP to ON May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting laser control to 1 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Available presets: May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Preset 0: Custom May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Preset 1: Default May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Load device preset: Default May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Device preset Default loaded May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: set DecimationFilter to false May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: set HDRMerge to false May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: set TemporalFilter to false May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Enable color stream May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Enable depth stream May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Enable frame sync May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Setting LDP to ON May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Current node pid: 343 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Start device cost 257 ms May 07 03:02:49 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Initialize device cost 75 ms May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 07 03:02:49 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 07 03:02:49 r2-0008 docker[85191]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 07 03:02:49 r2-0008 docker[85191]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 07 03:02:49 r2-0008 docker[85191]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:02:49 r2-0008 docker[85191]: core | [hal-4] [INFO]: Starting zuuu_hal! May 07 03:02:50 r2-0008 docker[85191]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 07 03:02:50 r2-0008 docker[85191]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 07 03:02:50 r2-0008 docker[85191]: core | [hal-4] May 07 03:02:50 r2-0008 docker[85191]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:02:50 r2-0008 docker[85191]: core | [hal-4] [INFO]: zuuu version: 1.2 May 07 03:02:50 r2-0008 docker[85191]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 07 03:02:50 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 07 03:02:50 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 07 03:02:50 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 07 03:02:50 r2-0008 docker[85191]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 07 03:02:50 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 07 03:02:50 r2-0008 docker[85191]: 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 07 03:02:50 r2-0008 docker[85191]: 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 07 03:02:50 r2-0008 docker[85191]: 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 07 03:02:50 r2-0008 docker[85191]: 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 07 03:02:50 r2-0008 docker[85191]: 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 07 03:02:50 r2-0008 docker[85191]: 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 07 03:02:50 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 07 03:02:50 r2-0008 docker[85191]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 07 03:02:50 r2-0008 docker[85191]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 07 03:02:50 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 07 03:02:50 r2-0008 docker[85191]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:02:50 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 07 03:02:50 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 07 03:02:50 r2-0008 docker[85191]: core | [hal-4] [WARN]: Battery voltage OK (25.6V) May 07 03:02:50 r2-0008 docker[85191]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 07 03:02:50 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 07 03:02:50 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 07 03:02:50 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 314] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [825] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [forward_torque_controller-14]: process started with pid [797] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [799] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [801] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [forward_pid_controller-17]: process started with pid [803] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [gripper_current_controller-18]: process started with pid [805] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [gripper_mode_controller-19]: process started with pid [807] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [antenna_current_controller-20]: process started with pid [809] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [antenna_mode_controller-21]: process started with pid [811] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [813] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [815] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [817] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [819] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [821] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [823] May 07 03:02:50 r2-0008 docker[85191]: core | [INFO] [rviz2-29]: process started with pid [827] May 07 03:02:50 r2-0008 docker[85191]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 07 03:02:51 r2-0008 docker[85191]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 07 03:02:51 r2-0008 docker[85191]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 07 03:02:51 r2-0008 docker[85191]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 07 03:02:51 r2-0008 docker[85191]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 07 03:02:51 r2-0008 docker[85191]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 07 03:02:51 r2-0008 docker[85191]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 07 03:02:51 r2-0008 docker[85191]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 07 03:02:51 r2-0008 docker[85191]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 07 03:02:51 r2-0008 docker[85191]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 07 03:02:51 r2-0008 docker[85191]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 07 03:02:51 r2-0008 docker[85191]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 07 03:02:51 r2-0008 docker[85191]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 07 03:02:51 r2-0008 docker[85191]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 07 03:02:51 r2-0008 docker[85191]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 07 03:02:51 r2-0008 docker[85191]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 07 03:02:51 r2-0008 docker[85191]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 07 03:02:51 r2-0008 docker[85191]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 07 03:02:51 r2-0008 docker[85191]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 07 03:02:51 r2-0008 docker[85191]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 07 03:02:51 r2-0008 docker[85191]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 07 03:02:51 r2-0008 docker[85191]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1230] May 07 03:02:51 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 823] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 809] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 813] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 817] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 807] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 811] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 805] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 797] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 801] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 819] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 815] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 803] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 821] May 07 03:02:52 r2-0008 docker[85191]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 799] May 07 03:02:52 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 07 03:02:52 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [PID 1230] Starting grpc server at 50051 May 07 03:02:53 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:02:53 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:02:53 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] May 07 03:02:53 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 07 03:02:53 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 07 03:02:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:53Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.10443 req/s May 07 03:02:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:53Z INFO server] GRPC EtherCAT Slave 0 | commands sent 316.24 cmd/s, commands dropped 0.20 req/s, command time: 3.16 (max 1499.83) ms May 07 03:02:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:53Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.09952 req/s May 07 03:02:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:53Z INFO server] GRPC EtherCAT Slave 1 | commands sent 317.88 cmd/s, commands dropped 0.40 req/s, command time: 3.15 (max 1316.52) ms May 07 03:02:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:53Z INFO server] GRPC EtherCAT Slave 2 | commands sent 341.98 cmd/s, commands dropped 0.60 req/s, command time: 2.92 (max 1113.72) ms May 07 03:02:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:53Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.0512 req/s May 07 03:02:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:53Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.13547 req/s May 07 03:02:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:53Z INFO server] GRPC EtherCAT Slave 3 | commands sent 375.09 cmd/s, commands dropped 1.40 req/s, command time: 2.67 (max 909.07) ms May 07 03:02:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:54Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.09598 req/s May 07 03:02:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:54Z INFO server] GRPC EtherCAT Slave 4 | commands sent 370.15 cmd/s, commands dropped 1.00 req/s, command time: 2.70 (max 804.27) ms May 07 03:02:54 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:02:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:54Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.18097 req/s May 07 03:02:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:54Z INFO server] GRPC EtherCAT Slave 5 | commands sent 392.13 cmd/s, commands dropped 0.80 req/s, command time: 2.55 (max 599.10) ms May 07 03:02:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:54Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.11633 req/s May 07 03:02:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:54Z INFO server] GRPC EtherCAT Slave 6 | commands sent 430.97 cmd/s, commands dropped 0.80 req/s, command time: 2.32 (max 471.14) ms May 07 03:02:54 r2-0008 docker[85191]: core | [INFO] [launch.user]: May 07 03:02:54 r2-0008 docker[85191]: core | -------------------------------------------------- May 07 03:02:54 r2-0008 docker[85191]: core | Node Watcher Report May 07 03:02:54 r2-0008 docker[85191]: core | Logging to /home/reachy/.ros/log/2026-05-07-01-02-43-745647-r2-0008-107 May 07 03:02:54 r2-0008 docker[85191]: core | Un-monitored nodes[11/26] May 07 03:02:54 r2-0008 docker[85191]: core | Failed[0/15]: [] May 07 03:02:54 r2-0008 docker[85191]: core | Success[15/15]: ['joint_state_broadcaster', 'gripper_forward_position_controller', 'antenna_current_controller', 'neck_forward_position_controller', 'tripod_forward_position_controller', 'gripper_mode_controller', 'antenna_mode_controller', 'gripper_current_controller', 'forward_torque_controller', 'forward_speed_limit_controller', 'r_arm_forward_position_controller', 'antenna_forward_position_controller', 'forward_pid_controller', 'l_arm_forward_position_controller', 'forward_torque_limit_controller'] May 07 03:02:54 r2-0008 docker[85191]: core | -------------------------------------------------- May 07 03:02:54 r2-0008 docker[85191]: core | May 07 03:02:54 r2-0008 docker[85191]: 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 07 03:02:54 r2-0008 docker[85191]: core | [INFO] [aplay-31]: process started with pid [1316] May 07 03:02:54 r2-0008 docker[85191]: 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 07 03:02:55 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:02:55 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:02:55Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 931.95 Hz May 07 03:02:55 r2-0008 docker[85191]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1316] May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: Setup done! May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 07 03:02:56 r2-0008 docker[85191]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 30.640ms May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 07 03:02:56 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 26.8773193359375, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 28.887481689453125, 'speed_limit': 1.0, 'motor_currents': 14072.7099609375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -1.929674744606018}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': -0.31605684757232666, 'velocity': 4.203895392974451e-45, 'effort': 50.954246520996094, 'axis_sensor': -0.31345343589782715, 'target_position': -0.31605684757232666}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 23.442806243896484, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 28.15625, 'speed_limit': 1.0, 'motor_currents': -18.520713806152344, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': 0.08872870355844498, 'velocity': 4.203895392974451e-45, 'effort': 119.50927734375, 'axis_sensor': 0.08952951431274414, 'target_position': 0.08872870355844498}) May 07 03:02:56 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_finger, id=8, type=unknown, extra={} state={'position': 2.267223596572876, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.267223596572876}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': -0.2481747269630432, 'velocity': -8.407790785948902e-45, 'effort': -25.159568786621094, 'axis_sensor': -0.2471451759338379, 'target_position': -0.2481747269630432}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 23.400421142578125, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.624603271484375, 'speed_limit': 1.0, 'motor_currents': -24.683246612548828, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.25013798475265503, 'velocity': 0.0, 'effort': 5.552340030670166, 'axis_sensor': -0.24834191799163818, 'target_position': 0.25013798475265503}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right_raw_motor, id=15, type=unknown, extra={} state={'torque_limit': 0.30000001192092896, 'speed_limit': 38.84902572631836, 'temperature': 40.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 27.01889419555664, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 34.832366943359375, 'speed_limit': 1.0, 'motor_currents': -16.59639549255371, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left_raw_motor, id=18, type=unknown, extra={} state={'torque_limit': 0.30000001192092896, 'speed_limit': 38.84902572631836, 'temperature': 34.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 27.770042419433594, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 37.254486083984375, 'speed_limit': 1.0, 'motor_currents': -14429.5185546875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.553253173828125}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 25.404935836791992, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 33.267303466796875, 'speed_limit': 1.0, 'motor_currents': -8.210991859436035, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.018407821655273438, 'velocity': 0.0, 'effort': 0.0, 'torque': 0.0, 'target_position': 0.018407821655273438}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.1735418140888214, 'velocity': -4.417242234922014e-05, 'effort': -86856.8671875, 'target_position': -0.1735418140888214}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 26.33832359313965, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.75567626953125, 'speed_limit': 1.0, 'motor_currents': 14675.017578125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -3.987546682357788}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 26.424652099609375, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 27.303619384765625, 'speed_limit': 1.0, 'motor_currents': 13689.9482421875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 1.3676458597183228}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': -0.06920617818832397, 'velocity': -1.2611686178923354e-44, 'effort': 77007.171875, 'target_position': -0.06920617818832397}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': -0.0009989087702706456, 'velocity': -1.56696432895842e-06, 'effort': -57916.13671875, 'target_position': -0.0009958634618669748}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 27.415618896484375, 'motor_velocities': 8.163720485754311e-05, 'torque_limit': 1.0, 'motor_temperature': 32.91412353515625, 'speed_limit': 1.0, 'motor_currents': 14215.505859375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.5426014065742493}) May 07 03:02:56 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Goto action server head init. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': 0.05313321202993393, 'velocity': -4.203895392974451e-45, 'effort': 35.080787658691406, 'axis_sensor': 0.05346536636352539, 'target_position': 0.05313321202993393}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 24.575016021728516, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 27.602020263671875, 'speed_limit': 1.0, 'motor_currents': -7.022795677185059, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': 0.2560942471027374, 'velocity': 8.407790785948902e-45, 'effort': -72552.5390625, 'target_position': 0.2560942471027374}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 26.205331802368164, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 30.93963623046875, 'speed_limit': 1.0, 'motor_currents': -14530.248046875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.6467711329460144}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 24.95376968383789, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 28.013824462890625, 'speed_limit': 1.0, 'motor_currents': -39.39853286743164, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 27.714738845825195, 'motor_velocities': 0.00041701484587974846, 'torque_limit': 1.0, 'motor_temperature': 35.429534912109375, 'speed_limit': 1.0, 'motor_currents': -10642.685546875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.023219427093863487}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 0.0, 'target_position': 0.0015339851379394531}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 26.69135856628418, 'motor_velocities': -9.10844001811131e-44, 'torque_limit': 1.0, 'motor_temperature': 27.503875732421875, 'speed_limit': 1.0, 'motor_currents': 14060.822265625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -1.415573000907898}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': -0.435825914144516, 'velocity': 0.0, 'effort': -228589.046875, 'target_position': -0.435825914144516}) May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': 0.2755422592163086, 'velocity': 2.802596928649634e-45, 'effort': -7419.47509765625, 'target_position': 0.2755422592163086}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 26.775407791137695, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 34.913726806640625, 'speed_limit': 1.0, 'motor_currents': -8.582133293151855, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': -0.13469809293746948, 'velocity': 0.0, 'effort': -30835.357421875, 'target_position': -0.13469809293746948}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -0.44597965478897095, 'velocity': 8.407790785948902e-45, 'effort': 28.606277465820312, 'axis_sensor': -0.44884371757507324, 'target_position': -0.44597965478897095}) May 07 03:02:56 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': -0.0030634277500212193, 'velocity': 0.0, 'effort': -16.87650489807129, 'axis_sensor': -0.0022971630096435547, 'target_position': -0.0030634277500212193}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': 0.19009339809417725, 'velocity': 1.401298464324817e-45, 'effort': -70148.5078125, 'target_position': 0.19009339809417725}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': -0.0008317119209095836, 'velocity': 2.125363789673429e-05, 'effort': -40800.90625, 'target_position': -0.0008353255689144135}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 25.26444435119629, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 32.514312744140625, 'speed_limit': 1.0, 'motor_currents': 7.826297283172607, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_finger, id=53, type=unknown, extra={} state={'position': 2.267223596572876, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.267223596572876}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 25.639894485473633, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 31.868316650390625, 'speed_limit': 1.0, 'motor_currents': 14496.2294921875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -2.6494905948638916}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.3001549541950226, 'velocity': -1.2611686178923354e-44, 'effort': -46.08123779296875, 'axis_sensor': -0.2967354655265808, 'target_position': -0.3001549541950226}) May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: 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 07 03:02:56 r2-0008 docker[85191]: 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': 0.018407821655273438, 'velocity': 0.0, 'effort': 0.0, 'torque': 0.0, 'target_position': 0.018407821655273438}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 0.0, 'target_position': 0.0015339851379394531})], 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': 0.018407821655273438, 'velocity': 0.0, 'effort': 0.0, 'torque': 0.0, 'target_position': 0.018407821655273438}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 0.0, 'target_position': 0.0015339851379394531})}) May 07 03:02:56 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 07 03:02:56 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 07 03:02:56 r2-0008 docker[85191]: 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': 0.0})], components_dict={'hand': Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 0.0})}) May 07 03:02:56 r2-0008 docker[85191]: 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': 0.0})], components_dict={'hand': Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 0.0})}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 07 03:02:56 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 07 03:02:56 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 07 03:02:57 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 07 03:02:57 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 07 03:02:57 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 07 03:02:57 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [PID 1230] Ready to start May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 07 03:03:03 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] [PID 1230] Server started on port 50051. May 07 03:03:05 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:05Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 936.05 Hz May 07 03:03:15 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:15Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 939.28 Hz May 07 03:03:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:23Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.0029 req/s May 07 03:03:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:23Z INFO server] GRPC EtherCAT Slave 0 | commands sent 504.52 cmd/s, commands dropped 1.17 req/s, command time: 1.98 (max 17.26) ms May 07 03:03:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:23Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99368 req/s May 07 03:03:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:23Z INFO server] GRPC EtherCAT Slave 1 | commands sent 491.28 cmd/s, commands dropped 0.97 req/s, command time: 2.04 (max 17.09) ms May 07 03:03:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:23Z INFO server] GRPC EtherCAT Slave 2 | commands sent 491.32 cmd/s, commands dropped 0.97 req/s, command time: 2.04 (max 17.05) ms May 07 03:03:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:23Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99722 req/s May 07 03:03:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:23Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.99637 req/s May 07 03:03:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:23Z INFO server] GRPC EtherCAT Slave 3 | commands sent 506.56 cmd/s, commands dropped 0.87 req/s, command time: 1.97 (max 17.07) ms May 07 03:03:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:24Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.99924 req/s May 07 03:03:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:24Z INFO server] GRPC EtherCAT Slave 4 | commands sent 491.19 cmd/s, commands dropped 0.80 req/s, command time: 2.04 (max 17.17) ms May 07 03:03:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:24Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.9901 req/s May 07 03:03:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:24Z INFO server] GRPC EtherCAT Slave 5 | commands sent 491.73 cmd/s, commands dropped 0.83 req/s, command time: 2.03 (max 17.14) ms May 07 03:03:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:24Z INFO server] GRPC EtherCAT Slave 6 | commands sent 508.93 cmd/s, commands dropped 0.93 req/s, command time: 1.96 (max 17.25) ms May 07 03:03:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:24Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99728 req/s May 07 03:03:25 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:25Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 935.29 Hz May 07 03:03:35 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:35Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 938.38 Hz May 07 03:03:45 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:45Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 938.20 Hz May 07 03:03:50 r2-0008 docker[85191]: core | [hal-4] [WARN]: Battery voltage OK (25.3V) May 07 03:03:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:53Z INFO server] GRPC EtherCAT Slave 0 | states sent 499.99588 req/s May 07 03:03:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:53Z INFO server] GRPC EtherCAT Slave 0 | commands sent 506.80 cmd/s, commands dropped 1.10 req/s, command time: 1.97 (max 17.39) ms May 07 03:03:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:53Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99973 req/s May 07 03:03:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:53Z INFO server] GRPC EtherCAT Slave 1 | commands sent 492.70 cmd/s, commands dropped 0.73 req/s, command time: 2.03 (max 17.38) ms May 07 03:03:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:53Z INFO server] GRPC EtherCAT Slave 2 | commands sent 492.60 cmd/s, commands dropped 0.83 req/s, command time: 2.03 (max 16.29) ms May 07 03:03:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:53Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.01483 req/s May 07 03:03:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:53Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.9993 req/s May 07 03:03:53 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:53Z INFO server] GRPC EtherCAT Slave 3 | commands sent 506.07 cmd/s, commands dropped 0.90 req/s, command time: 1.98 (max 16.28) ms May 07 03:03:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:54Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.0004 req/s May 07 03:03:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:54Z INFO server] GRPC EtherCAT Slave 4 | commands sent 493.23 cmd/s, commands dropped 1.20 req/s, command time: 2.03 (max 16.31) ms May 07 03:03:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:54Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.99722 req/s May 07 03:03:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:54Z INFO server] GRPC EtherCAT Slave 5 | commands sent 493.20 cmd/s, commands dropped 0.87 req/s, command time: 2.03 (max 17.71) ms May 07 03:03:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:54Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99902 req/s May 07 03:03:54 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:54Z INFO server] GRPC EtherCAT Slave 6 | commands sent 509.33 cmd/s, commands dropped 1.00 req/s, command time: 1.96 (max 16.31) ms May 07 03:03:55 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:03:55Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 937.75 Hz May 07 03:03:57 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 07 03:03:57 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 07 03:03:57 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 07 03:04:00 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:04:00 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:04:00 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:04:00 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:04:00 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:04:03 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: goto finished May 07 03:04:03 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: goto finished May 07 03:04:03 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: goto finished May 07 03:04:03 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: goto finished May 07 03:04:03 r2-0008 docker[85191]: core | [goto_server-11] [INFO]: goto finished May 07 03:04:05 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:05Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 936.34 Hz May 07 03:04:15 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:15Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 936.84 Hz May 07 03:04:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:23Z INFO server] GRPC EtherCAT Slave 0 | states sent 499.99722 req/s May 07 03:04:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:23Z INFO server] GRPC EtherCAT Slave 0 | commands sent 506.53 cmd/s, commands dropped 0.90 req/s, command time: 1.97 (max 17.68) ms May 07 03:04:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:23Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99954 req/s May 07 03:04:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:23Z INFO server] GRPC EtherCAT Slave 1 | commands sent 492.33 cmd/s, commands dropped 0.93 req/s, command time: 2.03 (max 17.71) ms May 07 03:04:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:23Z INFO server] GRPC EtherCAT Slave 2 | commands sent 491.73 cmd/s, commands dropped 0.70 req/s, command time: 2.03 (max 17.67) ms May 07 03:04:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:23Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99152 req/s May 07 03:04:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:23Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.99396 req/s May 07 03:04:23 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:23Z INFO server] GRPC EtherCAT Slave 3 | commands sent 502.24 cmd/s, commands dropped 0.90 req/s, command time: 1.99 (max 17.67) ms May 07 03:04:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:24Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.999 req/s May 07 03:04:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:24Z INFO server] GRPC EtherCAT Slave 4 | commands sent 491.50 cmd/s, commands dropped 0.90 req/s, command time: 2.03 (max 17.67) ms May 07 03:04:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:24Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.99838 req/s May 07 03:04:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:24Z INFO server] GRPC EtherCAT Slave 5 | commands sent 491.70 cmd/s, commands dropped 0.87 req/s, command time: 2.03 (max 17.64) ms May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [INFO]: Requested mode change to :'CMD_VEL' May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [INFO]: OK May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:24Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.9961 req/s May 07 03:04:24 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:24Z INFO server] GRPC EtherCAT Slave 6 | commands sent 507.11 cmd/s, commands dropped 1.07 req/s, command time: 1.97 (max 17.71) ms May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:24 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:25Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 934.44 Hz May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:25 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Not all slaves are connected! Expected: 7, Responding: 5 May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(0), name: "NeckOrbita3d" May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(1), name: "RightShoulderOrbita2d" May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(2), name: "RightElbowOrbita2d" May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(3), name: "RightWristOrbita3d" May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(4), name: "LeftShoulderOrbita2d" May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(5), name: "LeftElbowOrbita2d" May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(6), name: "LeftWristOrbita3d" May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z WARN ethercat_controller::ethercat_controller] Master cannot go to operational! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Not all slaves are connected! Expected: 7, Responding: 5 May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z INFO ethercat_controller::ethercat_controller] Connected slaves: May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Slave 0 not connected! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Slave 1 not connected! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Slave 2 not connected! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Slave 3 not connected! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Slave 4 not connected! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 3) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 2) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 1) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 0) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 6) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 5) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 4) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 1) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 2) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 0) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 3) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 4) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 5) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 6) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 3) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 0) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 1) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 2) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Slave 5 not connected! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 4) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 5) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 6) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 2) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 0) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 3) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 1) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 1) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 4) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 5) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 6) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 2) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 0) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 3) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 4) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 6) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Slave (id: 5) not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:04:26 r2-0008 docker[85191]: core | [ethercat_master_server-1] [2026-05-07T01:04:26Z ERROR ethercat_controller::ethercat_controller] Slave 6 not connected! May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (425) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (321) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (496) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (612) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] [2026-05-07T01:04:26Z ERROR poulpe_ethercat_grpc::client] Error in command stream: Status { code: Unknown, message: "transport error", source: Some(tonic::transport::Error(Transport, hyper::Error(Io, Kind(ConnectionReset)))) } May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (196) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (154) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:04:26 r2-0008 docker[85191]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:04:26 r2-0008 docker[85191]: core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code 10, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. May 07 03:04:26 r2-0008 docker[85191]: core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] May 07 03:04:26 r2-0008 docker[85191]: core | [INFO] [rosbag_snapshot_dump-32]: process started with pid [1374] May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:26 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-32] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() May 07 03:04:27 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-32] May 07 03:04:27 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-32] response: May 07 03:04:27 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-32] rosbag2_interfaces.srv.Snapshot_Response(success=True) May 07 03:04:27 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-32] May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [INFO] [rosbag_snapshot_dump-32]: process has finished cleanly [pid 1374] May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [ros2_control_node-2] [2026-05-07T01:04:27Z ERROR poulpe_ethercat_grpc::client] State is older than 1s for slave 0, server maybe down! May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [ERROR] [ros2_control_node-2]: process has died [pid 130, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_i3bu4yoa --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. May 07 03:04:27 r2-0008 docker[85191]: core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] May 07 03:04:27 r2-0008 docker[85191]: core | [INFO] [rosbag_snapshot_dump-33]: process started with pid [1401] May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:27 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-33] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() May 07 03:04:28 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-33] May 07 03:04:28 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-33] response: May 07 03:04:28 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-33] rosbag2_interfaces.srv.Snapshot_Response(success=True) May 07 03:04:28 r2-0008 docker[85191]: core | [rosbag_snapshot_dump-33] May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [INFO] [rosbag_snapshot_dump-33]: process has finished cleanly [pid 1401] May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:28 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: sending signal 'SIGINT' to process[reachy_grpc_joint_sdk_server-30] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [rviz2-29]: sending signal 'SIGINT' to process[rviz2-29] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [pollen_kdl_kinematics-28]: sending signal 'SIGINT' to process[pollen_kdl_kinematics-28] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] May 07 03:04:29 r2-0008 docker[85191]: core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 324, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] May 07 03:04:29 r2-0008 docker[85191]: core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] Traceback (most recent call last): May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server", line 33, in May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_joint_sdk_server')()) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/joint_server.py", line 215, in main_singleprocess May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] server.wait_for_termination() May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] return _common.wait( May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] wait_fn(timeout=timeout) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 607, in wait May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] signaled = self._cond.wait(timeout) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 324, in wait May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] gotit = waiter.acquire(True, timeout) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] KeyboardInterrupt May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] Exception in thread Thread-5 (_serve): May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] Traceback (most recent call last): May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] self.run() May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 953, in run May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] self._target(*self._args, **self._kwargs) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1334, in _serve May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] if not _process_event_and_continue(state, event): May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1288, in _process_event_and_continue May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] rpc_state, rpc_future = _handle_call( May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1127, in _handle_call May 07 03:04:29 r2-0008 docker[85191]: core | [rviz2-29] [INFO]: signal_handler(signum=2) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] _handle_with_method_handler( May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1064, in _handle_with_method_handler May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] return _handle_unary_unary( May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 903, in _handle_unary_unary May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] return thread_pool.submit( May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/concurrent/futures/thread.py", line 167, in submit May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] raise RuntimeError('cannot schedule new futures after shutdown') May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_joint_sdk_server-30] RuntimeError: cannot schedule new futures after shutdown May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] Traceback (most recent call last): May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] File "/home/reachy/reachy_ws/install/pollen_kdl_kinematics/lib/pollen_kdl_kinematics/pollen_kdl_kinematics", line 33, in May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] sys.exit(load_entry_point('pollen-kdl-kinematics', 'console_scripts', 'pollen_kdl_kinematics')()) May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] File "/home/reachy/reachy_ws/build/pollen_kdl_kinematics/pollen_kdl_kinematics/pollen_kdl_kinematics_node.py", line 827, in main May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] rclpy.spin(node) May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] executor.spin_once() May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] self._spin_once_impl(timeout_sec) May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] return next(self._cb_iter) May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] wait_set.wait(timeout_nsec) May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] KeyboardInterrupt May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] Traceback (most recent call last): May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router", line 33, in May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 401, in main May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] rclpy.spin(node) May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] executor.spin_once() May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] return next(self._cb_iter) May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) May 07 03:04:29 r2-0008 docker[85191]: core | [dynamic_state_router-12] KeyboardInterrupt May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] Traceback (most recent call last): May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] Exception in thread Thread-1 (publish_commands): May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] Traceback (most recent call last): May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 636, in main May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] self.run() May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/usr/lib/python3.10/threading.py", line 953, in run May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] rclpy.shutdown() May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 126, in shutdown May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] self._target(*self._args, **self._kwargs) May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 108, in publish_commands May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] _shutdown(context=context) May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] self.cmd_joints_pub() May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 124, in cmd_joints_pub May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] return context.shutdown() May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] self.dynamic_joint_commands_pub.publish(cmd_msg) May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/publisher.py", line 70, in publish May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] self.__context.shutdown() May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] self.__publisher.publish(msg) May 07 03:04:29 r2-0008 docker[85191]: core | [goto_server-11] rclpy._rclpy_pybind11.RCLError: Failed to publish: publisher's context is invalid, at ./src/rcl/publisher.c:389 May 07 03:04:29 r2-0008 docker[85191]: core | [component_container-10] [INFO]: signal_handler(signum=2) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server", line 33, in May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 368, in main May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] self.run() May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] return _common.wait( May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 187, in spin_ros May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] executor.spin_once() May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] return next(self._cb_iter) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 612, in _wait_for_ready_callbacks May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] raise ExternalShutdownException() May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] rclpy.executors.ExternalShutdownException May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) May 07 03:04:29 r2-0008 docker[85191]: core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt May 07 03:04:29 r2-0008 docker[85191]: core | [component_container-10] [WARN]: Do destroy ~OBCameraNode May 07 03:04:29 r2-0008 docker[85191]: core | [component_container-10] [WARN]: Stop tf thread May 07 03:04:29 r2-0008 docker[85191]: core | [component_container-10] [WARN]: Stop color frame thread May 07 03:04:29 r2-0008 docker[85191]: core | [component_container-10] [INFO]: Color frame thread exit! May 07 03:04:29 r2-0008 docker[85191]: core | [component_container-10] [WARN]: stop streams May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 35.377ms May 07 03:04:29 r2-0008 docker[85191]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] Traceback (most recent call last): May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] rclpy.spin(publisher) May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] executor.spin_once() May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] return next(self._cb_iter) May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) May 07 03:04:29 r2-0008 docker[85191]: core | [fake_gz_interface-5] KeyboardInterrupt May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown May 07 03:04:29 r2-0008 docker[85191]: core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 May 07 03:04:29 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while May 07 03:04:29 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Event publisher thread: Exiting May 07 03:04:29 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Recording stopped May 07 03:04:29 r2-0008 docker[85191]: core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE May 07 03:04:30 r2-0008 docker[85191]: core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 335, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. May 07 03:04:30 r2-0008 docker[85191]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] May 07 03:04:30 r2-0008 docker[85191]: core | [ERROR] [robot_state_publisher-6]: process has died [pid 303, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_w777_pvw']. May 07 03:04:30 r2-0008 docker[85191]: core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] May 07 03:04:30 r2-0008 docker[85191]: core | [hal-4] Traceback (most recent call last): May 07 03:04:30 r2-0008 docker[85191]: core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in May 07 03:04:30 r2-0008 docker[85191]: core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) May 07 03:04:30 r2-0008 docker[85191]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main May 07 03:04:30 r2-0008 docker[85191]: core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") May 07 03:04:30 r2-0008 docker[85191]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown May 07 03:04:30 r2-0008 docker[85191]: core | [hal-4] raise RuntimeError(msg) May 07 03:04:30 r2-0008 docker[85191]: core | [hal-4] RuntimeError: Default zuuu_hal shutdown May 07 03:04:30 r2-0008 docker[85191]: core | [ERROR] [dynamic_state_router-12]: process has died [pid 347, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. May 07 03:04:30 r2-0008 docker[85191]: core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] May 07 03:04:30 r2-0008 docker[85191]: core | [rplidar_scan_publisher-3] [INFO]: Stop motor May 07 03:04:30 r2-0008 docker[85191]: core | [rosbag-13] [INFO]: Recording stopped May 07 03:04:30 r2-0008 docker[85191]: core | [ERROR] [goto_server-11]: process has died [pid 345, exit code -11, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. May 07 03:04:30 r2-0008 docker[85191]: core | [INFO] [launch.user]: Critical node failed : [goto_server] May 07 03:04:30 r2-0008 docker[85191]: core | [ERROR] [fake_gz_interface-5]: process has died [pid 301, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_w0_yinz_']. May 07 03:04:30 r2-0008 docker[85191]: core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] May 07 03:04:31 r2-0008 docker[85191]: core | [INFO] [rviz2-29]: process has finished cleanly [pid 827] May 07 03:04:31 r2-0008 docker[85191]: core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 281] May 07 03:04:31 r2-0008 docker[85191]: core | [INFO] [rosbag-13]: process has finished cleanly [pid 349] May 07 03:04:31 r2-0008 docker[85191]: core | [INFO] [component_container-10]: process has finished cleanly [pid 343] May 07 03:04:32 r2-0008 docker[85191]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 07 03:04:32 r2-0008 docker[85191]: core | [ERROR] [pollen_kdl_kinematics-28]: process has died [pid 825, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_kdl_kinematics/lib/pollen_kdl_kinematics/pollen_kdl_kinematics --ros-args -r __node:=kinematics -r __ns:=/']. May 07 03:04:32 r2-0008 docker[85191]: core | [INFO] [launch.user]: Critical node failed : [pollen_kdl_kinematics] May 07 03:04:34 r2-0008 docker[85191]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 07 03:04:34 r2-0008 docker[85191]: core | [ERROR] [reachy_grpc_joint_sdk_server-30]: process[reachy_grpc_joint_sdk_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 07 03:04:34 r2-0008 docker[85191]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 07 03:04:34 r2-0008 docker[85191]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: sending signal 'SIGTERM' to process[reachy_grpc_joint_sdk_server-30] May 07 03:04:34 r2-0008 docker[85191]: core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] May 07 03:04:39 r2-0008 docker[85191]: core | [ERROR] [reachy_grpc_joint_sdk_server-30]: process[reachy_grpc_joint_sdk_server-30] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' May 07 03:04:39 r2-0008 docker[85191]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' May 07 03:04:39 r2-0008 docker[85191]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: sending signal 'SIGKILL' to process[reachy_grpc_joint_sdk_server-30] May 07 03:04:39 r2-0008 docker[85191]: core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] May 07 03:04:39 r2-0008 docker[85191]: core | [ERROR] [reachy_grpc_joint_sdk_server-30]: process has died [pid 1230, exit code -9, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server /home/reachy/.reachy_config/reachy.yaml 2 --ros-args']. May 07 03:04:39 r2-0008 docker[85191]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_joint_sdk_server] May 07 03:04:39 r2-0008 docker[85191]: core | [ERROR] [hal-4]: process has died [pid 283, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_l1fpidet']. May 07 03:04:39 r2-0008 docker[85191]: core | Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_Bubbles_Pops_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo May 07 03:04:40 r2-0008 docker[85191]: core exited with code 0 May 07 03:04:40 r2-0008 docker[90304]: Container core Stopping May 07 03:04:40 r2-0008 docker[90304]: Container core Stopping May 07 03:04:40 r2-0008 docker[90304]: Container core Stopped May 07 03:04:40 r2-0008 docker[90304]: Container core Removing May 07 03:04:40 r2-0008 docker[90304]: Container core Removed May 07 03:04:40 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 07 03:04:47 r2-0008 systemd[1]: reachy2-core.service: Scheduled restart job, restart counter is at 1. May 07 03:04:47 r2-0008 systemd[1]: Stopped Reachy2 Core. May 07 03:04:47 r2-0008 systemd[1]: Starting Reachy2 Core... May 07 03:04:47 r2-0008 bash[90484]: What a clear sky to launch a [core] container May 07 03:04:47 r2-0008 systemd[1]: Started Reachy2 Core. May 07 03:04:47 r2-0008 docker[90523]: Container core Creating May 07 03:04:47 r2-0008 docker[90523]: Container core Created May 07 03:04:47 r2-0008 docker[90523]: Attaching to core May 07 03:04:48 r2-0008 docker[90523]: core | Input : Rode, Output: Rode May 07 03:04:48 r2-0008 docker[90523]: core | ALSA configuration generated with the following settings: May 07 03:04:48 r2-0008 docker[90523]: core | Sink Card: 1,0 May 07 03:04:48 r2-0008 docker[90523]: core | Source Card: 1,0 May 07 03:04:48 r2-0008 docker[90523]: core | Period Size: 512 May 07 03:04:48 r2-0008 docker[90523]: core | Buffer Size: 2048 May 07 03:04:48 r2-0008 docker[90523]: core | Sound config written to ~/.asoundrc May 07 03:04:55 r2-0008 docker[90523]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-07-01-04-55-077566-r2-0008-107 May 07 03:04:55 r2-0008 docker[90523]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 07 03:04:55 r2-0008 docker[90523]: core | [INFO] [launch.user]: May 07 03:04:55 r2-0008 docker[90523]: core | -------------------------------------------------- May 07 03:04:55 r2-0008 docker[90523]: core | Configuration May 07 03:04:55 r2-0008 docker[90523]: core | -------------------------------------------------- May 07 03:04:55 r2-0008 docker[90523]: core | May 07 03:04:55 r2-0008 docker[90523]: core | [reachy.yaml] configuration override May 07 03:04:55 r2-0008 docker[90523]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:04:55 r2-0008 docker[90523]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:04:55 r2-0008 docker[90523]: core | May 07 03:04:55 r2-0008 docker[90523]: core | Validating configuration files... May 07 03:04:55 r2-0008 docker[90523]: core | Reachy config loaded successfully May 07 03:04:55 r2-0008 docker[90523]: core | [INFO] [launch.user]: Reachy config : May 07 03:04:55 r2-0008 docker[90523]: core | robot_model full_kit May 07 03:04:55 r2-0008 docker[90523]: core | May 07 03:04:55 r2-0008 docker[90523]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 07 03:04:55 r2-0008 docker[90523]: core | [INFO] [launch.user]: Reachy URDF config : May 07 03:04:55 r2-0008 docker[90523]: core | depth_camera true May 07 03:04:55 r2-0008 docker[90523]: core | robot_config full_kit May 07 03:04:55 r2-0008 docker[90523]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 07 03:04:55 r2-0008 docker[90523]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 07 03:04:55 r2-0008 docker[90523]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 07 03:04:55 r2-0008 docker[90523]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 07 03:04:55 r2-0008 docker[90523]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 07 03:04:55 r2-0008 docker[90523]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 07 03:04:55 r2-0008 docker[90523]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 07 03:04:55 r2-0008 docker[90523]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 07 03:04:55 r2-0008 docker[90523]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 07 03:04:55 r2-0008 docker[90523]: core | robot_model "dvt" May 07 03:04:55 r2-0008 docker[90523]: core | May 07 03:04:55 r2-0008 docker[90523]: core | [INFO] [launch.user]: May 07 03:04:55 r2-0008 docker[90523]: core | -------------------------------------------------- May 07 03:04:55 r2-0008 docker[90523]: core | Launching nodes... May 07 03:04:55 r2-0008 docker[90523]: core | -------------------------------------------------- May 07 03:04:55 r2-0008 docker[90523]: core | May 07 03:04:56 r2-0008 docker[90523]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 07 03:04:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:56Z INFO server] POULPE controller ready! May 07 03:04:59 r2-0008 docker[90523]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 07 03:04:59 r2-0008 docker[90523]: 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 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO server] Done! May 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO server] New client - update period of 0.002s May 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO server] Done! May 07 03:04:59 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:04:59Z INFO server] New client - update period of 0.002s May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Done! May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] New client - update period of 0.002s May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [291] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [281] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [hal-4]: process started with pid [283] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [fake_gz_interface-5]: process started with pid [285] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [robot_state_publisher-6]: process started with pid [287] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [289] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [293] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [component_container-10]: process started with pid [295] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [goto_server-11]: process started with pid [297] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [dynamic_state_router-12]: process started with pid [299] May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [rosbag-13]: process started with pid [301] May 07 03:05:00 r2-0008 docker[90523]: 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 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Done! May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] New client - update period of 0.002s May 07 03:05:00 r2-0008 docker[90523]: 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 07 03:05:00 r2-0008 docker[90523]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 07 03:05:00 r2-0008 docker[90523]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 07 03:05:00 r2-0008 docker[90523]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 07 03:05:00 r2-0008 docker[90523]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 07 03:05:00 r2-0008 docker[90523]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Done! May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] New client - update period of 0.002s May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Done! May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] New client - update period of 0.002s May 07 03:05:00 r2-0008 docker[90523]: 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 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] Done! May 07 03:05:00 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:00Z INFO server] New client - update period of 0.002s May 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [05/07 01:05:00.808193][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 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [05/07 01:05:00.809272][info][295][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [05/07 01:05:00.809886][info][295][LinuxPal.cpp:32] createObPal: create LinuxPal! May 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [05/07 01:05:00.813632][info][295][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [05/07 01:05:00.814436][info][295][DeviceManager.cpp:15] Current found device(s): (1) May 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [05/07 01:05:00.815001][info][295][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 07 03:05:00 r2-0008 docker[90523]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 07 03:05:00 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Connecting to the default device May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-07-01-04-55-077566-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Listening for topics... May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Recording... May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 07 03:05:00 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Select device cost 176 ms May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: current time domain: device May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Create align filter May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Depth process is HW D2D May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting LDP to ON May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting laser control to 1 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Available presets: May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Preset 0: Custom May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Preset 1: Default May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Load device preset: Default May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Device preset Default loaded May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: set DecimationFilter to false May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: set HDRMerge to false May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: set TemporalFilter to false May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Enable color stream May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Enable depth stream May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Enable frame sync May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Setting LDP to ON May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Current node pid: 295 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Start device cost 326 ms May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Initialize device cost 139 ms May 07 03:05:01 r2-0008 docker[90523]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 07 03:05:01 r2-0008 docker[90523]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 07 03:05:01 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 07 03:05:01 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 07 03:05:01 r2-0008 docker[90523]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:05:01 r2-0008 docker[90523]: core | [hal-4] [INFO]: Starting zuuu_hal! May 07 03:05:01 r2-0008 docker[90523]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 07 03:05:01 r2-0008 docker[90523]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 07 03:05:01 r2-0008 docker[90523]: 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 07 03:05:01 r2-0008 docker[90523]: 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 07 03:05:01 r2-0008 docker[90523]: 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 07 03:05:01 r2-0008 docker[90523]: 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 07 03:05:01 r2-0008 docker[90523]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 07 03:05:01 r2-0008 docker[90523]: core | [hal-4] May 07 03:05:01 r2-0008 docker[90523]: 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 07 03:05:01 r2-0008 docker[90523]: 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 07 03:05:01 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 07 03:05:01 r2-0008 docker[90523]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 07 03:05:01 r2-0008 docker[90523]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:05:01 r2-0008 docker[90523]: core | [hal-4] [INFO]: zuuu version: 1.2 May 07 03:05:01 r2-0008 docker[90523]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 07 03:05:01 r2-0008 docker[90523]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 07 03:05:01 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 07 03:05:01 r2-0008 docker[90523]: core | [hal-4] [WARN]: Battery voltage OK (25.4V) May 07 03:05:01 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Publishing static transform from color to depth May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Translation 14.118, 0.040812, 1.60059 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Rotation 0.000462881, 0.000723912, 0.00109022, 0.999999 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Publishing static transform from depth to depth May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Translation 0, 0, 0 May 07 03:05:01 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 May 07 03:05:01 r2-0008 docker[90523]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 07 03:05:01 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 07 03:05:01 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 07 03:05:01 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 07 03:05:01 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 07 03:05:01 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 07 03:05:01 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 07 03:05:01 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 07 03:05:01 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 289] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [842] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [forward_torque_controller-14]: process started with pid [814] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [816] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [818] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [forward_pid_controller-17]: process started with pid [820] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [gripper_current_controller-18]: process started with pid [822] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [gripper_mode_controller-19]: process started with pid [824] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [antenna_current_controller-20]: process started with pid [826] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [antenna_mode_controller-21]: process started with pid [828] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [830] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [832] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [834] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [836] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [838] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [840] May 07 03:05:01 r2-0008 docker[90523]: core | [INFO] [rviz2-29]: process started with pid [844] May 07 03:05:01 r2-0008 docker[90523]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 07 03:05:02 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 07 03:05:02 r2-0008 docker[90523]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 07 03:05:02 r2-0008 docker[90523]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 07 03:05:02 r2-0008 docker[90523]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 07 03:05:02 r2-0008 docker[90523]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 07 03:05:02 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 07 03:05:02 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 07 03:05:02 r2-0008 docker[90523]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 07 03:05:02 r2-0008 docker[90523]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 07 03:05:02 r2-0008 docker[90523]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 07 03:05:02 r2-0008 docker[90523]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 07 03:05:02 r2-0008 docker[90523]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 07 03:05:03 r2-0008 docker[90523]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 838] May 07 03:05:03 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 07 03:05:03 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 07 03:05:03 r2-0008 docker[90523]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 07 03:05:03 r2-0008 docker[90523]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 07 03:05:03 r2-0008 docker[90523]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 07 03:05:03 r2-0008 docker[90523]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 07 03:05:03 r2-0008 docker[90523]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 07 03:05:03 r2-0008 docker[90523]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 07 03:05:03 r2-0008 docker[90523]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 07 03:05:03 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 07 03:05:03 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 07 03:05:03 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 07 03:05:03 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 07 03:05:03 r2-0008 docker[90523]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 07 03:05:03 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 07 03:05:03 r2-0008 docker[90523]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 07 03:05:03 r2-0008 docker[90523]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 07 03:05:03 r2-0008 docker[90523]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 07 03:05:03 r2-0008 docker[90523]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 07 03:05:03 r2-0008 docker[90523]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 07 03:05:03 r2-0008 docker[90523]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 816] May 07 03:05:03 r2-0008 docker[90523]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 07 03:05:03 r2-0008 docker[90523]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 07 03:05:03 r2-0008 docker[90523]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 07 03:05:03 r2-0008 docker[90523]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 07 03:05:03 r2-0008 docker[90523]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1246] May 07 03:05:03 r2-0008 docker[90523]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 07 03:05:03 r2-0008 docker[90523]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 824] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 820] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 828] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 814] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 832] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 818] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 822] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 826] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 836] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 834] May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 830] May 07 03:05:03 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 07 03:05:03 r2-0008 docker[90523]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 840] May 07 03:05:04 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [PID 1246] Starting grpc server at 50051 May 07 03:05:04 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:05:04 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:05:04 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] May 07 03:05:04 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 07 03:05:04 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 07 03:05:04 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:04Z INFO server] GRPC EtherCAT Slave 0 | commands sent 326.39 cmd/s, commands dropped 1.00 req/s, command time: 3.06 (max 1423.15) ms May 07 03:05:04 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:04Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.05847 req/s May 07 03:05:04 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:04Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.1151 req/s May 07 03:05:04 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:04Z INFO server] GRPC EtherCAT Slave 1 | commands sent 320.96 cmd/s, commands dropped 0.40 req/s, command time: 3.12 (max 1233.82) ms May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.01404 req/s May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 2 | commands sent 343.28 cmd/s, commands dropped 1.40 req/s, command time: 2.91 (max 1031.17) ms May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.12402 req/s May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 3 | commands sent 383.16 cmd/s, commands dropped 1.00 req/s, command time: 2.61 (max 822.82) ms May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.1213 req/s May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 4 | commands sent 374.84 cmd/s, commands dropped 1.00 req/s, command time: 2.67 (max 807.26) ms May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.06213 req/s May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 5 | commands sent 386.65 cmd/s, commands dropped 1.60 req/s, command time: 2.59 (max 683.58) ms May 07 03:05:05 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.07217 req/s May 07 03:05:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:05Z INFO server] GRPC EtherCAT Slave 6 | commands sent 410.46 cmd/s, commands dropped 1.40 req/s, command time: 2.44 (max 467.44) ms May 07 03:05:06 r2-0008 docker[90523]: core | [INFO] [launch.user]: May 07 03:05:06 r2-0008 docker[90523]: core | -------------------------------------------------- May 07 03:05:06 r2-0008 docker[90523]: core | Node Watcher Report May 07 03:05:06 r2-0008 docker[90523]: core | Logging to /home/reachy/.ros/log/2026-05-07-01-04-55-077566-r2-0008-107 May 07 03:05:06 r2-0008 docker[90523]: core | Un-monitored nodes[11/26] May 07 03:05:06 r2-0008 docker[90523]: core | Failed[0/15]: [] May 07 03:05:06 r2-0008 docker[90523]: core | Success[15/15]: ['joint_state_broadcaster', 'l_arm_forward_position_controller', 'forward_torque_limit_controller', 'gripper_mode_controller', 'forward_pid_controller', 'antenna_mode_controller', 'forward_torque_controller', 'antenna_forward_position_controller', 'forward_speed_limit_controller', 'gripper_current_controller', 'antenna_current_controller', 'r_arm_forward_position_controller', 'tripod_forward_position_controller', 'neck_forward_position_controller', 'gripper_forward_position_controller'] May 07 03:05:06 r2-0008 docker[90523]: core | -------------------------------------------------- May 07 03:05:06 r2-0008 docker[90523]: core | May 07 03:05:06 r2-0008 docker[90523]: 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 07 03:05:06 r2-0008 docker[90523]: core | [INFO] [aplay-31]: process started with pid [1334] May 07 03:05:06 r2-0008 docker[90523]: 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 07 03:05:06 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:06Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 929.16 Hz May 07 03:05:06 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:05:06 r2-0008 docker[90523]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1334] May 07 03:05:07 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: Setup done! May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 07 03:05:07 r2-0008 docker[90523]: 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 07 03:05:07 r2-0008 docker[90523]: 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 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 07 03:05:07 r2-0008 docker[90523]: 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 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 07 03:05:07 r2-0008 docker[90523]: 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 07 03:05:07 r2-0008 docker[90523]: 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 07 03:05:07 r2-0008 docker[90523]: 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 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 07 03:05:07 r2-0008 docker[90523]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 07 03:05:07 r2-0008 docker[90523]: 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 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 07 03:05:07 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 07 03:05:07 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 37.480ms May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 07 03:05:08 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 07 03:05:08 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 07 03:05:08 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 07 03:05:08 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Goto action server head init. May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:05:08 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 07 03:05:08 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 07 03:05:08 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 27.247684478759766, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 28.31878662109375, 'speed_limit': 1.0, 'motor_currents': -14495.8212890625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.011315028183162212}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': 0.17352892458438873, 'velocity': 0.0, 'effort': -64.39714813232422, 'axis_sensor': 0.1710209846496582, 'target_position': 0.17352892458438873}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_raw_motor_1, id=5, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 75.56999969482422, 'temperature': 30.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 24.031686782836914, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 28.23236083984375, 'speed_limit': 1.0, 'motor_currents': 5.72613525390625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': -0.17451950907707214, 'velocity': 4.203895392974451e-45, 'effort': -21.833415985107422, 'axis_sensor': -0.16750812530517578, 'target_position': -0.17451950907707214}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_finger, id=8, type=unknown, extra={} state={'position': 2.2687575817108154, 'velocity': 0.0, 'effort': 0.005379999987781048, 'target_position': 2.267223596572876}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': 4.470348358154297e-07, 'velocity': -8.407790785948902e-45, 'effort': 86.9781723022461, 'axis_sensor': -0.006295680999755859, 'target_position': 4.470348358154297e-07}) May 07 03:05:08 r2-0008 docker[90523]: 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': 31.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 23.9941349029541, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.67620849609375, 'speed_limit': 1.0, 'motor_currents': -17.71544647216797, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:05:08 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.1797855645418167, 'velocity': 2.5223372357846707e-44, 'effort': 40.12714385986328, 'axis_sensor': -0.18659555912017822, 'target_position': 0.1797855645418167}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: 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': 40.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 27.565998077392578, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 35.125274658203125, 'speed_limit': 1.0, 'motor_currents': 9.641105651855469, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: 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': 35.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 28.192211151123047, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 37.632781982421875, 'speed_limit': 1.0, 'motor_currents': 10584.3671875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.8102108836174011}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 25.93687629699707, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 33.541259765625, 'speed_limit': 1.0, 'motor_currents': 23.56477928161621, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.018407821655273438, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.018407821655273438}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.19443370401859283, 'velocity': 1.7142868102837383e-07, 'effort': -17122.228515625, 'target_position': -0.19443370401859283}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 26.840625762939453, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 28.012481689453125, 'speed_limit': 1.0, 'motor_currents': 13780.0263671875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0024045307654887438}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 26.885345458984375, 'motor_velocities': -2.228064558276459e-43, 'torque_limit': 1.0, 'motor_temperature': 27.56103515625, 'speed_limit': 1.0, 'motor_currents': -4360.82177734375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.00040181478834711015}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': -0.0003794970689341426, 'velocity': 1.604847680263085e-34, 'effort': -23580.7265625, 'target_position': -0.0003794970689341426}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': 0.008447585627436638, 'velocity': -3.1174025139080186e-08, 'effort': 204623.078125, 'target_position': 0.008447585627436638}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 27.950641632080078, 'motor_velocities': -5.195170729166421e-07, 'torque_limit': 1.0, 'motor_temperature': 33.443328857421875, 'speed_limit': 1.0, 'motor_currents': 14063.5576171875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.44250330328941345}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': -0.001961808418855071, 'velocity': 2.2420775429197073e-44, 'effort': -49.60641098022461, 'axis_sensor': -0.008277416229248047, 'target_position': -0.001961808418855071}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 25.153118133544922, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 27.726226806640625, 'speed_limit': 1.0, 'motor_currents': 27.409799575805664, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': 4.142986290389672e-05, 'velocity': -1.0289421898561445e-35, 'effort': 113846.5390625, 'target_position': 4.142986290389672e-05}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 26.57425308227539, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 31.166717529296875, 'speed_limit': 1.0, 'motor_currents': 4321.35791015625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.012113888747990131}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 25.509958267211914, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 28.099609375, 'speed_limit': 1.0, 'motor_currents': 28.396020889282227, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 28.178266525268555, 'motor_velocities': 8.740753260072509e-11, 'torque_limit': 1.0, 'motor_temperature': 35.917572021484375, 'speed_limit': 1.0, 'motor_currents': 13718.5263671875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -5.934774875640869}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.0015339851379394531}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 27.160829544067383, 'motor_velocities': -1.2582635311150438e-35, 'torque_limit': 1.0, 'motor_temperature': 27.147918701171875, 'speed_limit': 1.0, 'motor_currents': -11172.162109375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.008826732635498047}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': 0.0003261321980971843, 'velocity': 1.401298464324817e-44, 'effort': 27512.283203125, 'target_position': 0.0003261321980971843}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': 0.00017759883485268801, 'velocity': -7.006492321624085e-45, 'effort': -95149.671875, 'target_position': 0.00017759883485268801}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 27.270044326782227, 'motor_velocities': -9.10844001811131e-44, 'torque_limit': 1.0, 'motor_temperature': 35.243408203125, 'speed_limit': 1.0, 'motor_currents': 0.6297580599784851, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': -4.6967230446171016e-05, 'velocity': -3.783505853677006e-44, 'effort': -15316.5810546875, 'target_position': -4.6967230446171016e-05}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -0.00016074431187007576, 'velocity': -4.203895392974451e-45, 'effort': 40.95570373535156, 'axis_sensor': -0.0031952857971191406, 'target_position': -0.00016074431187007576}) May 07 03:05:08 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': -0.0003783953725360334, 'velocity': 8.407790785948902e-45, 'effort': 79.17755126953125, 'axis_sensor': -0.002225160598754883, 'target_position': -0.0003783953725360334}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': 0.0003108067612629384, 'velocity': -2.2296410190488246e-39, 'effort': 63161.6328125, 'target_position': 0.0003108067612629384}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': 0.08394599705934525, 'velocity': -2.65260147180868e-09, 'effort': -15088.298828125, 'target_position': 0.08394599705934525}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 25.805940628051758, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 32.752227783203125, 'speed_limit': 1.0, 'motor_currents': 35.17631912231445, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 26.113588333129883, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 31.84722900390625, 'speed_limit': 1.0, 'motor_currents': -14576.236328125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0143343610689044}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.1757332682609558, 'velocity': -4.203895392974451e-45, 'effort': -48.9174690246582, 'axis_sensor': -0.1908842921257019, 'target_position': -0.1757332682609558}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: 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': 0.018407821655273438, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.018407821655273438}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.0015339851379394531})], 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': 0.018407821655273438, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.018407821655273438}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.0015339851379394531})}) May 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: 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 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 07 03:05:08 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 07 03:05:08 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 07 03:05:08 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 07 03:05:08 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 07 03:05:08 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 07 03:05:08 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 07 03:05:08 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [PID 1246] Ready to start May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] [PID 1246] Server started on port 50051. May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 07 03:05:14 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 07 03:05:16 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:16Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 932.96 Hz May 07 03:05:23 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:05:23 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:05:23 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:05:23 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:05:23 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: Executing goal... May 07 03:05:26 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: goto finished May 07 03:05:26 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: goto finished May 07 03:05:26 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: goto finished May 07 03:05:26 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: goto finished May 07 03:05:26 r2-0008 docker[90523]: core | [goto_server-11] [INFO]: goto finished May 07 03:05:26 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:26Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 931.73 Hz May 07 03:05:34 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:34Z INFO server] GRPC EtherCAT Slave 0 | states sent 499.99823 req/s May 07 03:05:34 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:34Z INFO server] GRPC EtherCAT Slave 0 | commands sent 504.18 cmd/s, commands dropped 1.23 req/s, command time: 1.98 (max 22.64) ms May 07 03:05:34 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:34Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99048 req/s May 07 03:05:34 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:34Z INFO server] GRPC EtherCAT Slave 1 | commands sent 490.81 cmd/s, commands dropped 1.30 req/s, command time: 2.04 (max 22.59) ms May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.00272 req/s May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 2 | commands sent 489.67 cmd/s, commands dropped 1.43 req/s, command time: 2.04 (max 22.65) ms May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 3 | commands sent 505.42 cmd/s, commands dropped 1.27 req/s, command time: 1.98 (max 17.49) ms May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.00385 req/s May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.00293 req/s May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 4 | commands sent 490.17 cmd/s, commands dropped 1.47 req/s, command time: 2.04 (max 22.74) ms May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.00134 req/s May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 5 | commands sent 489.34 cmd/s, commands dropped 1.47 req/s, command time: 2.04 (max 22.53) ms May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.89682 req/s May 07 03:05:35 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:35Z INFO server] GRPC EtherCAT Slave 6 | commands sent 505.34 cmd/s, commands dropped 1.53 req/s, command time: 1.98 (max 17.33) ms May 07 03:05:36 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:36Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 931.43 Hz May 07 03:05:46 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:46Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 934.03 Hz May 07 03:05:56 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:05:56Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 932.28 Hz May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [INFO]: Requested mode change to :'CMD_VEL' May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [INFO]: OK May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:58 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:05:59 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:00 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [WARN]: Battery voltage OK (25.3V) May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:01 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:02 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:03 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:04Z INFO server] GRPC EtherCAT Slave 0 | states sent 499.99548 req/s May 07 03:06:04 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:04Z INFO server] GRPC EtherCAT Slave 0 | commands sent 508.46 cmd/s, commands dropped 1.60 req/s, command time: 1.97 (max 20.34) ms May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:04Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99933 req/s May 07 03:06:04 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:04Z INFO server] GRPC EtherCAT Slave 1 | commands sent 491.16 cmd/s, commands dropped 1.70 req/s, command time: 2.04 (max 20.33) ms May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:04 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.9971 req/s May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 2 | commands sent 489.60 cmd/s, commands dropped 1.57 req/s, command time: 2.04 (max 17.70) ms May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 3 | commands sent 506.28 cmd/s, commands dropped 1.67 req/s, command time: 1.98 (max 19.96) ms May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.99603 req/s May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.99063 req/s May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 4 | commands sent 489.19 cmd/s, commands dropped 1.63 req/s, command time: 2.04 (max 20.30) ms May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.00287 req/s May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 5 | commands sent 489.60 cmd/s, commands dropped 1.67 req/s, command time: 2.04 (max 18.71) ms May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.1078 req/s May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Not all slaves are connected! Expected: 7, Responding: 5 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(0), name: "NeckOrbita3d" May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(1), name: "RightShoulderOrbita2d" May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(2), name: "RightElbowOrbita2d" May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(3), name: "RightWristOrbita3d" May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(4), name: "LeftShoulderOrbita2d" May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO server] GRPC EtherCAT Slave 6 | commands sent 508.76 cmd/s, commands dropped 1.63 req/s, command time: 1.97 (max 20.36) ms May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(5), name: "LeftElbowOrbita2d" May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(6), name: "LeftWristOrbita3d" May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z WARN ethercat_controller::ethercat_controller] Master cannot go to operational! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Not all slaves are connected! Expected: 7, Responding: 5 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z INFO ethercat_controller::ethercat_controller] Connected slaves: May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Slave 0 not connected! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Slave 1 not connected! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Slave 2 not connected! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Slave 3 not connected! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Slave 4 not connected! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 5) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 1) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 3) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 6) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 4) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 2) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 0) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 5) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 1) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 0) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 6) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 4) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 3) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 2) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 5) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 1) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 4) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 0) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 3) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 2) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 6) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 5) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 1) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Slave 5 not connected! May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 3) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 4) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 6) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 2) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 0) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 5) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 1) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 0) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 0: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 6) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 6: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 2) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 2: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 3) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 3: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 5) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 5: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 1) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 1: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Slave (id: 4) not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR server] Failed to get state for slave 4: Slave not ready! May 07 03:06:05 r2-0008 docker[90523]: core | [ethercat_master_server-1] [2026-05-07T01:06:05Z ERROR ethercat_controller::ethercat_controller] Slave 6 not connected! May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (563) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (502) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (375) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (446) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (251) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: stream closed because of a broken pipe", source: Some(hyper::Error(Body, Error { kind: Io(Custom { kind: BrokenPipe, error: "stream closed because of a broken pipe" }) })) } May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (154) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (203) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 07 03:06:05 r2-0008 docker[90523]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 07 03:06:05 r2-0008 docker[90523]: core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code 10, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. May 07 03:06:05 r2-0008 docker[90523]: core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] May 07 03:06:05 r2-0008 docker[90523]: core | [INFO] [rosbag_snapshot_dump-32]: process started with pid [1400] May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:05 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-32] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() May 07 03:06:06 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-32] May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-32] response: May 07 03:06:06 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-32] rosbag2_interfaces.srv.Snapshot_Response(success=True) May 07 03:06:06 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-32] May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [INFO] [rosbag_snapshot_dump-32]: process has finished cleanly [pid 1400] May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [ros2_control_node-2] [2026-05-07T01:06:06Z ERROR poulpe_ethercat_grpc::client] State is older than 1s for slave 1, server maybe down! May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [ERROR] [ros2_control_node-2]: process has died [pid 130, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_mb8c6gc0 --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. May 07 03:06:06 r2-0008 docker[90523]: core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] May 07 03:06:06 r2-0008 docker[90523]: core | [INFO] [rosbag_snapshot_dump-33]: process started with pid [1426] May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:06 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-33] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() May 07 03:06:07 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-33] May 07 03:06:07 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-33] response: May 07 03:06:07 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-33] rosbag2_interfaces.srv.Snapshot_Response(success=True) May 07 03:06:07 r2-0008 docker[90523]: core | [rosbag_snapshot_dump-33] May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [INFO] [rosbag_snapshot_dump-33]: process has finished cleanly [pid 1426] May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:07 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: sending signal 'SIGINT' to process[reachy_grpc_joint_sdk_server-30] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [rviz2-29]: sending signal 'SIGINT' to process[rviz2-29] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [pollen_kdl_kinematics-28]: sending signal 'SIGINT' to process[pollen_kdl_kinematics-28] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] May 07 03:06:09 r2-0008 docker[90523]: core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 291, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] Traceback (most recent call last): May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server", line 33, in May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_joint_sdk_server')()) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/joint_server.py", line 215, in main_singleprocess May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] server.wait_for_termination() May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] return _common.wait( May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] wait_fn(timeout=timeout) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 607, in wait May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] signaled = self._cond.wait(timeout) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 324, in wait May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] gotit = waiter.acquire(True, timeout) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] KeyboardInterrupt May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] Exception in thread Thread-5 (_serve): May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] Traceback (most recent call last): May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] self.run() May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 953, in run May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] self._target(*self._args, **self._kwargs) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1334, in _serve May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] if not _process_event_and_continue(state, event): May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1288, in _process_event_and_continue May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] rpc_state, rpc_future = _handle_call( May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1127, in _handle_call May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] _handle_with_method_handler( May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1064, in _handle_with_method_handler May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] return _handle_unary_unary( May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 903, in _handle_unary_unary May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] return thread_pool.submit( May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/concurrent/futures/thread.py", line 167, in submit May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] raise RuntimeError('cannot schedule new futures after shutdown') May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_joint_sdk_server-30] RuntimeError: cannot schedule new futures after shutdown May 07 03:06:09 r2-0008 docker[90523]: core | [rviz2-29] [INFO]: signal_handler(signum=2) May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] Traceback (most recent call last): May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] File "/home/reachy/reachy_ws/install/pollen_kdl_kinematics/lib/pollen_kdl_kinematics/pollen_kdl_kinematics", line 33, in May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] sys.exit(load_entry_point('pollen-kdl-kinematics', 'console_scripts', 'pollen_kdl_kinematics')()) May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] File "/home/reachy/reachy_ws/build/pollen_kdl_kinematics/pollen_kdl_kinematics/pollen_kdl_kinematics_node.py", line 827, in main May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] rclpy.spin(node) May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] executor.spin_once() May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] self._spin_once_impl(timeout_sec) May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] return next(self._cb_iter) May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] wait_set.wait(timeout_nsec) May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] KeyboardInterrupt May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] Traceback (most recent call last): May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router", line 33, in May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 401, in main May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] rclpy.spin(node) May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] executor.spin_once() May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 734, in _spin_once_impl May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] handler() May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__ May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] self._handler.send(None) May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 437, in handler May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] await call_coroutine(entity, arg) May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 351, in _execute_timer May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] await await_or_execute(tmr.callback) May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] return callback(*args) May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line -1, in publish_joint_commands May 07 03:06:09 r2-0008 docker[90523]: core | [dynamic_state_router-12] KeyboardInterrupt May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] Traceback (most recent call last): May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 636, in main May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] rclpy.shutdown() May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 126, in shutdown May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] _shutdown(context=context) May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] return context.shutdown() May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] self.__context.shutdown() May 07 03:06:09 r2-0008 docker[90523]: core | [goto_server-11] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 May 07 03:06:09 r2-0008 docker[90523]: core | [component_container-10] [INFO]: signal_handler(signum=2) May 07 03:06:09 r2-0008 docker[90523]: core | [component_container-10] [INFO]: Color frame thread exit! May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server", line 33, in May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 368, in main May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] self.run() May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 187, in spin_ros May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] return _common.wait( May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] executor.spin_once() May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] return next(self._cb_iter) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 612, in _wait_for_ready_callbacks May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt May 07 03:06:09 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] raise ExternalShutdownException() May 07 03:06:09 r2-0008 docker[90523]: core | [reachy_grpc_video_sdk_server-9] rclpy.executors.ExternalShutdownException May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 35.845ms May 07 03:06:09 r2-0008 docker[90523]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:06:09 r2-0008 docker[90523]: core | [component_container-10] [WARN]: Do destroy ~OBCameraNode May 07 03:06:09 r2-0008 docker[90523]: core | [component_container-10] [WARN]: Stop tf thread May 07 03:06:09 r2-0008 docker[90523]: core | [component_container-10] [WARN]: Stop color frame thread May 07 03:06:09 r2-0008 docker[90523]: core | [component_container-10] [WARN]: stop streams May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] Traceback (most recent call last): May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] rclpy.spin(publisher) May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] executor.spin_once() May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] return next(self._cb_iter) May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) May 07 03:06:09 r2-0008 docker[90523]: core | [fake_gz_interface-5] KeyboardInterrupt May 07 03:06:09 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Event publisher thread: Exiting May 07 03:06:09 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Recording stopped May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 May 07 03:06:09 r2-0008 docker[90523]: core | [rosbag-13] [INFO]: Recording stopped May 07 03:06:09 r2-0008 docker[90523]: core | [ERROR] [dynamic_state_router-12]: process has died [pid 299, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] May 07 03:06:09 r2-0008 docker[90523]: core | [ERROR] [robot_state_publisher-6]: process has died [pid 287, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_z7xtykp6']. May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] May 07 03:06:09 r2-0008 docker[90523]: core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE May 07 03:06:09 r2-0008 docker[90523]: core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 293, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] Traceback (most recent call last): May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] raise RuntimeError(msg) May 07 03:06:09 r2-0008 docker[90523]: core | [hal-4] RuntimeError: Default zuuu_hal shutdown May 07 03:06:09 r2-0008 docker[90523]: core | [rplidar_scan_publisher-3] [INFO]: Stop motor May 07 03:06:09 r2-0008 docker[90523]: core | [ERROR] [goto_server-11]: process has died [pid 297, exit code -11, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. May 07 03:06:09 r2-0008 docker[90523]: core | [INFO] [launch.user]: Critical node failed : [goto_server] May 07 03:06:10 r2-0008 docker[90523]: core | [INFO] [rviz2-29]: process has finished cleanly [pid 844] May 07 03:06:10 r2-0008 docker[90523]: core | [ERROR] [fake_gz_interface-5]: process has died [pid 285, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_rrqyzv77']. May 07 03:06:10 r2-0008 docker[90523]: core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] May 07 03:06:10 r2-0008 docker[90523]: core | [INFO] [rosbag-13]: process has finished cleanly [pid 301] May 07 03:06:10 r2-0008 docker[90523]: core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 281] May 07 03:06:11 r2-0008 docker[90523]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 07 03:06:13 r2-0008 docker[90523]: core | [ERROR] [pollen_kdl_kinematics-28]: process has died [pid 842, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_kdl_kinematics/lib/pollen_kdl_kinematics/pollen_kdl_kinematics --ros-args -r __node:=kinematics -r __ns:=/']. May 07 03:06:13 r2-0008 docker[90523]: core | [INFO] [launch.user]: Critical node failed : [pollen_kdl_kinematics] May 07 03:06:14 r2-0008 docker[90523]: core | [ERROR] [reachy_grpc_joint_sdk_server-30]: process[reachy_grpc_joint_sdk_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 07 03:06:14 r2-0008 docker[90523]: core | [ERROR] [component_container-10]: process[component_container-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 07 03:06:14 r2-0008 docker[90523]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 07 03:06:14 r2-0008 docker[90523]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: sending signal 'SIGTERM' to process[reachy_grpc_joint_sdk_server-30] May 07 03:06:14 r2-0008 docker[90523]: core | [INFO] [component_container-10]: sending signal 'SIGTERM' to process[component_container-10] May 07 03:06:14 r2-0008 docker[90523]: core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] May 07 03:06:14 r2-0008 docker[90523]: core | [component_container-10] [INFO]: signal_handler(signum=15) May 07 03:06:14 r2-0008 docker[90523]: core | [INFO] [component_container-10]: process has finished cleanly [pid 295] May 07 03:06:15 r2-0008 docker[90523]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 07 03:06:19 r2-0008 docker[90523]: core | [ERROR] [reachy_grpc_joint_sdk_server-30]: process[reachy_grpc_joint_sdk_server-30] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' May 07 03:06:19 r2-0008 docker[90523]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' May 07 03:06:19 r2-0008 docker[90523]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: sending signal 'SIGKILL' to process[reachy_grpc_joint_sdk_server-30] May 07 03:06:19 r2-0008 docker[90523]: core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] May 07 03:06:19 r2-0008 docker[90523]: core | [ERROR] [reachy_grpc_joint_sdk_server-30]: process has died [pid 1246, exit code -9, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server /home/reachy/.reachy_config/reachy.yaml 2 --ros-args']. May 07 03:06:19 r2-0008 docker[90523]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_joint_sdk_server] May 07 03:06:19 r2-0008 docker[90523]: core | [ERROR] [hal-4]: process has died [pid 283, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_e_7z40qf']. May 07 03:06:19 r2-0008 docker[90523]: core | Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_Bubbles_Pops_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo May 07 03:06:20 r2-0008 docker[90523]: core exited with code 0 May 07 03:06:20 r2-0008 docker[95327]: Container core Stopping May 07 03:06:20 r2-0008 docker[95327]: Container core Stopping May 07 03:06:20 r2-0008 docker[95327]: Container core Stopped May 07 03:06:20 r2-0008 docker[95327]: Container core Removing May 07 03:06:20 r2-0008 docker[95327]: Container core Removed May 07 03:06:20 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 07 03:06:27 r2-0008 systemd[1]: reachy2-core.service: Scheduled restart job, restart counter is at 2. May 07 03:06:27 r2-0008 systemd[1]: Stopped Reachy2 Core. May 07 03:06:27 r2-0008 systemd[1]: Starting Reachy2 Core... May 07 03:06:27 r2-0008 bash[95538]: What a clear sky to launch a [core] container May 07 03:06:27 r2-0008 systemd[1]: Started Reachy2 Core. May 07 03:06:27 r2-0008 docker[95579]: Container core Creating May 07 03:06:27 r2-0008 docker[95579]: Container core Created May 07 03:06:27 r2-0008 docker[95579]: Attaching to core May 07 03:06:28 r2-0008 docker[95579]: core | Input : Rode, Output: Rode May 07 03:06:28 r2-0008 docker[95579]: core | ALSA configuration generated with the following settings: May 07 03:06:28 r2-0008 docker[95579]: core | Sink Card: 1,0 May 07 03:06:28 r2-0008 docker[95579]: core | Source Card: 1,0 May 07 03:06:28 r2-0008 docker[95579]: core | Period Size: 512 May 07 03:06:28 r2-0008 docker[95579]: core | Buffer Size: 2048 May 07 03:06:28 r2-0008 docker[95579]: core | Sound config written to ~/.asoundrc May 07 03:06:34 r2-0008 docker[95579]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-07-01-06-34-563571-r2-0008-107 May 07 03:06:34 r2-0008 docker[95579]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 07 03:06:35 r2-0008 docker[95579]: core | [INFO] [launch.user]: May 07 03:06:35 r2-0008 docker[95579]: core | -------------------------------------------------- May 07 03:06:35 r2-0008 docker[95579]: core | Configuration May 07 03:06:35 r2-0008 docker[95579]: core | -------------------------------------------------- May 07 03:06:35 r2-0008 docker[95579]: core | May 07 03:06:35 r2-0008 docker[95579]: core | [reachy.yaml] configuration override May 07 03:06:35 r2-0008 docker[95579]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:06:35 r2-0008 docker[95579]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:06:35 r2-0008 docker[95579]: core | May 07 03:06:35 r2-0008 docker[95579]: core | Validating configuration files... May 07 03:06:35 r2-0008 docker[95579]: core | Reachy config loaded successfully May 07 03:06:35 r2-0008 docker[95579]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 07 03:06:35 r2-0008 docker[95579]: core | [INFO] [launch.user]: Reachy config : May 07 03:06:35 r2-0008 docker[95579]: core | robot_model full_kit May 07 03:06:35 r2-0008 docker[95579]: core | May 07 03:06:35 r2-0008 docker[95579]: core | [INFO] [launch.user]: Reachy URDF config : May 07 03:06:35 r2-0008 docker[95579]: core | depth_camera true May 07 03:06:35 r2-0008 docker[95579]: core | robot_config full_kit May 07 03:06:35 r2-0008 docker[95579]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 07 03:06:35 r2-0008 docker[95579]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 07 03:06:35 r2-0008 docker[95579]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 07 03:06:35 r2-0008 docker[95579]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 07 03:06:35 r2-0008 docker[95579]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 07 03:06:35 r2-0008 docker[95579]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 07 03:06:35 r2-0008 docker[95579]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 07 03:06:35 r2-0008 docker[95579]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 07 03:06:35 r2-0008 docker[95579]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 07 03:06:35 r2-0008 docker[95579]: core | robot_model "dvt" May 07 03:06:35 r2-0008 docker[95579]: core | May 07 03:06:35 r2-0008 docker[95579]: core | [INFO] [launch.user]: May 07 03:06:35 r2-0008 docker[95579]: core | -------------------------------------------------- May 07 03:06:35 r2-0008 docker[95579]: core | Launching nodes... May 07 03:06:35 r2-0008 docker[95579]: core | -------------------------------------------------- May 07 03:06:35 r2-0008 docker[95579]: core | May 07 03:06:35 r2-0008 docker[95579]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:06:35 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:35Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 07 03:06:36 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:36Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:06:36 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:36Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 07 03:06:36 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:36Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 07 03:06:36 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:36Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 07 03:06:36 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:36Z INFO server] POULPE controller ready! May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 07 03:06:39 r2-0008 docker[95579]: 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 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Done! May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] New client - update period of 0.002s May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Done! May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] New client - update period of 0.002s May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Done! May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] New client - update period of 0.002s May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [307] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [281] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [hal-4]: process started with pid [283] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [fake_gz_interface-5]: process started with pid [285] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [robot_state_publisher-6]: process started with pid [287] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [301] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [319] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [component_container-10]: process started with pid [330] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [goto_server-11]: process started with pid [343] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [dynamic_state_router-12]: process started with pid [347] May 07 03:06:39 r2-0008 docker[95579]: core | [INFO] [rosbag-13]: process started with pid [349] May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Done! May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] New client - update period of 0.002s May 07 03:06:39 r2-0008 docker[95579]: 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 07 03:06:39 r2-0008 docker[95579]: 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 07 03:06:39 r2-0008 docker[95579]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 07 03:06:39 r2-0008 docker[95579]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 07 03:06:39 r2-0008 docker[95579]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] Done! May 07 03:06:39 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:39Z INFO server] New client - update period of 0.002s May 07 03:06:39 r2-0008 docker[95579]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 07 03:06:39 r2-0008 docker[95579]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO server] Done! May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO server] New client - update period of 0.002s May 07 03:06:40 r2-0008 docker[95579]: 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 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [05/07 01:06:40.263792][info][330][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [05/07 01:06:40.265196][info][330][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [05/07 01:06:40.266068][info][330][LinuxPal.cpp:32] createObPal: create LinuxPal! May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [05/07 01:06:40.270936][info][330][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [05/07 01:06:40.270984][info][330][DeviceManager.cpp:15] Current found device(s): (1) May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [05/07 01:06:40.270993][info][330][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 07 03:06:40 r2-0008 docker[95579]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Connecting to the default device May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO server] Done! May 07 03:06:40 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:40Z INFO server] New client - update period of 0.002s May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Select device cost 168 ms May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: current time domain: device May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Create align filter May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Depth process is HW D2D May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting LDP to ON May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting laser control to 1 May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Available presets: May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Preset 0: Custom May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Preset 1: Default May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Load device preset: Default May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Device preset Default loaded May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-07-01-06-34-563571-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Listening for topics... May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Recording... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: set DecimationFilter to false May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: set HDRMerge to false May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: set TemporalFilter to false May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Enable color stream May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Enable depth stream May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Enable frame sync May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Setting LDP to ON May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Current node pid: 330 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Start device cost 358 ms May 07 03:06:40 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Initialize device cost 179 ms May 07 03:06:40 r2-0008 docker[95579]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 07 03:06:40 r2-0008 docker[95579]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 07 03:06:40 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 07 03:06:40 r2-0008 docker[95579]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:06:40 r2-0008 docker[95579]: core | [hal-4] [INFO]: Starting zuuu_hal! May 07 03:06:40 r2-0008 docker[95579]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 07 03:06:40 r2-0008 docker[95579]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 07 03:06:40 r2-0008 docker[95579]: core | [hal-4] May 07 03:06:40 r2-0008 docker[95579]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:06:40 r2-0008 docker[95579]: core | [hal-4] [INFO]: zuuu version: 1.2 May 07 03:06:40 r2-0008 docker[95579]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 07 03:06:41 r2-0008 docker[95579]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 07 03:06:41 r2-0008 docker[95579]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 07 03:06:41 r2-0008 docker[95579]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 07 03:06:41 r2-0008 docker[95579]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 07 03:06:41 r2-0008 docker[95579]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 07 03:06:41 r2-0008 docker[95579]: 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 07 03:06:41 r2-0008 docker[95579]: 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 07 03:06:41 r2-0008 docker[95579]: 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 07 03:06:41 r2-0008 docker[95579]: 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 07 03:06:41 r2-0008 docker[95579]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 07 03:06:41 r2-0008 docker[95579]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 07 03:06:41 r2-0008 docker[95579]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 07 03:06:41 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Publishing static transform from color to depth May 07 03:06:41 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Translation 14.118, 0.040812, 1.60059 May 07 03:06:41 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Rotation 0.000462881, 0.000723912, 0.00109022, 0.999999 May 07 03:06:41 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Publishing static transform from depth to depth May 07 03:06:41 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Translation 0, 0, 0 May 07 03:06:41 r2-0008 docker[95579]: core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 May 07 03:06:41 r2-0008 docker[95579]: core | [hal-4] [WARN]: Battery voltage OK (25.3V) May 07 03:06:41 r2-0008 docker[95579]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 07 03:06:41 r2-0008 docker[95579]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 07 03:06:41 r2-0008 docker[95579]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 07 03:06:41 r2-0008 docker[95579]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 07 03:06:41 r2-0008 docker[95579]: 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 07 03:06:41 r2-0008 docker[95579]: 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 07 03:06:41 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 07 03:06:41 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 07 03:06:41 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 07 03:06:41 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 301] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [842] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [forward_torque_controller-14]: process started with pid [814] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [816] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [818] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [forward_pid_controller-17]: process started with pid [820] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [gripper_current_controller-18]: process started with pid [822] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [gripper_mode_controller-19]: process started with pid [824] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [antenna_current_controller-20]: process started with pid [826] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [antenna_mode_controller-21]: process started with pid [828] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [830] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [832] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [834] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [836] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [838] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [840] May 07 03:06:41 r2-0008 docker[95579]: core | [INFO] [rviz2-29]: process started with pid [844] May 07 03:06:41 r2-0008 docker[95579]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 07 03:06:42 r2-0008 docker[95579]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 07 03:06:42 r2-0008 docker[95579]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 07 03:06:42 r2-0008 docker[95579]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 07 03:06:42 r2-0008 docker[95579]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 07 03:06:42 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 07 03:06:42 r2-0008 docker[95579]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 07 03:06:42 r2-0008 docker[95579]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 07 03:06:42 r2-0008 docker[95579]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 07 03:06:42 r2-0008 docker[95579]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 07 03:06:42 r2-0008 docker[95579]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 07 03:06:42 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 07 03:06:42 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 07 03:06:42 r2-0008 docker[95579]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 07 03:06:42 r2-0008 docker[95579]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 07 03:06:42 r2-0008 docker[95579]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 07 03:06:42 r2-0008 docker[95579]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 820] May 07 03:06:42 r2-0008 docker[95579]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1245] May 07 03:06:42 r2-0008 docker[95579]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 07 03:06:42 r2-0008 docker[95579]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 07 03:06:42 r2-0008 docker[95579]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 07 03:06:42 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 07 03:06:42 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 07 03:06:42 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 07 03:06:42 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 07 03:06:42 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 07 03:06:42 r2-0008 docker[95579]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 07 03:06:42 r2-0008 docker[95579]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 07 03:06:42 r2-0008 docker[95579]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 07 03:06:42 r2-0008 docker[95579]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 07 03:06:42 r2-0008 docker[95579]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 07 03:06:43 r2-0008 docker[95579]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 07 03:06:43 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 07 03:06:43 r2-0008 docker[95579]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 818] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 826] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 830] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 834] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 814] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 822] May 07 03:06:43 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 832] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 824] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 816] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 828] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 836] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 838] May 07 03:06:43 r2-0008 docker[95579]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 840] May 07 03:06:44 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [PID 1245] Starting grpc server at 50051 May 07 03:06:44 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:06:44 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:06:44 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] May 07 03:06:44 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.13007 req/s May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 0 | commands sent 310.89 cmd/s, commands dropped 0.20 req/s, command time: 3.22 (max 1591.53) ms May 07 03:06:44 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.14468 req/s May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 1 | commands sent 312.38 cmd/s, commands dropped 0.20 req/s, command time: 3.20 (max 1403.29) ms May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.1303 req/s May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 2 | commands sent 336.57 cmd/s, commands dropped 0.20 req/s, command time: 2.97 (max 1199.36) ms May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.0981 req/s May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 3 | commands sent 377.56 cmd/s, commands dropped 0.00 req/s, command time: 2.65 (max 994.91) ms May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.11682 req/s May 07 03:06:44 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:44Z INFO server] GRPC EtherCAT Slave 4 | commands sent 362.33 cmd/s, commands dropped 0.00 req/s, command time: 2.76 (max 889.54) ms May 07 03:06:45 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:45Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.07324 req/s May 07 03:06:45 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:45Z INFO server] GRPC EtherCAT Slave 5 | commands sent 385.24 cmd/s, commands dropped 0.80 req/s, command time: 2.60 (max 679.02) ms May 07 03:06:45 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:06:45 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:45Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.14786 req/s May 07 03:06:45 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:45Z INFO server] GRPC EtherCAT Slave 6 | commands sent 424.73 cmd/s, commands dropped 0.20 req/s, command time: 2.35 (max 465.56) ms May 07 03:06:45 r2-0008 docker[95579]: core | [INFO] [launch.user]: May 07 03:06:45 r2-0008 docker[95579]: core | -------------------------------------------------- May 07 03:06:45 r2-0008 docker[95579]: core | Node Watcher Report May 07 03:06:45 r2-0008 docker[95579]: core | Logging to /home/reachy/.ros/log/2026-05-07-01-06-34-563571-r2-0008-107 May 07 03:06:45 r2-0008 docker[95579]: core | Un-monitored nodes[11/26] May 07 03:06:45 r2-0008 docker[95579]: core | Failed[0/15]: [] May 07 03:06:45 r2-0008 docker[95579]: core | Success[15/15]: ['joint_state_broadcaster', 'forward_pid_controller', 'forward_speed_limit_controller', 'antenna_current_controller', 'neck_forward_position_controller', 'tripod_forward_position_controller', 'forward_torque_controller', 'gripper_current_controller', 'antenna_forward_position_controller', 'gripper_mode_controller', 'forward_torque_limit_controller', 'antenna_mode_controller', 'r_arm_forward_position_controller', 'l_arm_forward_position_controller', 'gripper_forward_position_controller'] May 07 03:06:45 r2-0008 docker[95579]: core | -------------------------------------------------- May 07 03:06:45 r2-0008 docker[95579]: core | May 07 03:06:45 r2-0008 docker[95579]: 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 07 03:06:45 r2-0008 docker[95579]: core | [INFO] [aplay-31]: process started with pid [1335] May 07 03:06:45 r2-0008 docker[95579]: 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 07 03:06:46 r2-0008 docker[95579]: core | [ethercat_master_server-1] [2026-05-07T01:06:46Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 928.53 Hz May 07 03:06:46 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:06:46 r2-0008 docker[95579]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1335] May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Service '/get_dynamic_state' not available, waiting again... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: Setup done! May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 07 03:06:47 r2-0008 docker[95579]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 41.592ms May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] **************************************** May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 27.468338012695312, 'motor_velocities': -4.203895392974451e-44, 'torque_limit': 1.0, 'motor_temperature': 28.843109130859375, 'speed_limit': 1.0, 'motor_currents': 4454.8330078125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -2.871212959289551}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': -0.32490721344947815, 'velocity': -0.0, 'effort': 18.68547821044922, 'axis_sensor': -0.32277703285217285, 'target_position': -0.32490721344947815}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_raw_motor_1, id=5, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 75.56999969482422, 'temperature': 30.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 07 03:06:47 r2-0008 docker[95579]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 24.411470413208008, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 28.35882568359375, 'speed_limit': 1.0, 'motor_currents': -19.84516716003418, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': 0.32194608449935913, 'velocity': 0.0, 'effort': 32.36084747314453, 'axis_sensor': 0.3200345039367676, 'target_position': 0.32194608449935913}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_finger, id=8, type=unknown, extra={} state={'position': 2.267223596572876, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.267223596572876}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': -0.0002300111809745431, 'velocity': -4.203895392974451e-45, 'effort': 71.14301300048828, 'axis_sensor': -0.0009264945983886719, 'target_position': -0.0002300111809745431}) May 07 03:06:47 r2-0008 docker[95579]: 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': 31.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 24.387971878051758, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.750457763671875, 'speed_limit': 1.0, 'motor_currents': -26.76234245300293, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.2558538317680359, 'velocity': 4.203895392974451e-45, 'effort': 24.818092346191406, 'axis_sensor': -0.25064313411712646, 'target_position': 0.2558538317680359}) May 07 03:06:47 r2-0008 docker[95579]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: 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': 40.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 27.901201248168945, 'motor_velocities': -4.203895392974451e-44, 'torque_limit': 1.0, 'motor_temperature': 35.40350341796875, 'speed_limit': 1.0, 'motor_currents': 13.100007057189941, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: 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': 35.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 28.570493698120117, 'motor_velocities': 3.869635278874739e-08, 'torque_limit': 1.0, 'motor_temperature': 37.83074951171875, 'speed_limit': 1.0, 'motor_currents': 6773.3642578125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.3158000409603119}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 26.283105850219727, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 33.761383056640625, 'speed_limit': 1.0, 'motor_currents': 0.17387951910495758, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.021475791931152344, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.021475791931152344}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': 0.18004830181598663, 'velocity': -1.4981310414441396e-06, 'effort': -3699.837158203125, 'target_position': 0.18004830181598663}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 27.054641723632812, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.8966064453125, 'speed_limit': 1.0, 'motor_currents': -2951.15380859375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -3.2626965045928955}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 27.133831024169922, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.4788818359375, 'speed_limit': 1.0, 'motor_currents': -4103.78662109375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.23089663684368134}) May 07 03:06:47 r2-0008 docker[95579]: core | [goto_server-11] [INFO]: Goto action server head init. May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': 0.5296517610549927, 'velocity': -2.802596928649634e-45, 'effort': 56609.5, 'target_position': 0.5296517610549927}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': -0.031836289912462234, 'velocity': -9.408158803125843e-06, 'effort': 131083.46875, 'target_position': -0.031836289912462234}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 28.24423599243164, 'motor_velocities': -1.4522440761168063e-16, 'torque_limit': 1.0, 'motor_temperature': 35.1007080078125, 'speed_limit': 1.0, 'motor_currents': 4353.70068359375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.9638595581054688}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': -0.11748721450567245, 'velocity': -0.0, 'effort': 23.349761962890625, 'axis_sensor': -0.11045503616333008, 'target_position': -0.11748721450567245}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 25.50751304626465, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 27.8101806640625, 'speed_limit': 1.0, 'motor_currents': 10.405329704284668, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': 0.7929797172546387, 'velocity': 4.203895392974451e-45, 'effort': -25282.326171875, 'target_position': 0.7929797172546387}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 26.753910064697266, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 31.024139404296875, 'speed_limit': 1.0, 'motor_currents': -7415.71435546875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.1063934937119484}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 25.893795013427734, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 28.16595458984375, 'speed_limit': 1.0, 'motor_currents': 9.671845436096191, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 28.512996673583984, 'motor_velocities': -0.0002556736581027508, 'torque_limit': 1.0, 'motor_temperature': 36.110015869140625, 'speed_limit': 1.0, 'motor_currents': 13450.8486328125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -5.978496551513672}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.0015339851379394531}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 27.349346160888672, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 27.289306640625, 'speed_limit': 1.0, 'motor_currents': 7701.15966796875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 3.012532949447632}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': -0.3298147916793823, 'velocity': -1.401298464324817e-44, 'effort': 63324.85546875, 'target_position': -0.3298147916793823}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': -0.08954804390668869, 'velocity': 1.6815581571897805e-44, 'effort': 12234.2470703125, 'target_position': -0.08954804390668869}) May 07 03:06:47 r2-0008 docker[95579]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 27.6950740814209, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 35.61456298828125, 'speed_limit': 1.0, 'motor_currents': -12.8252592086792, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': -0.4604746401309967, 'velocity': -1.401298464324817e-45, 'effort': -5888.60693359375, 'target_position': -0.4604746401309967}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -0.0010250743944197893, 'velocity': 4.203895392974451e-45, 'effort': 59.94240951538086, 'axis_sensor': -0.004345893859863281, 'target_position': -0.0010250743944197893}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': -0.03169994428753853, 'velocity': -1.2611686178923354e-44, 'effort': -22.068632125854492, 'axis_sensor': 0.028214693069458008, 'target_position': -0.03169994428753853}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': -0.10980797559022903, 'velocity': 4.203895392974451e-45, 'effort': -19426.19140625, 'target_position': -0.10980797559022903}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': 0.1281360387802124, 'velocity': 2.5271565391449258e-05, 'effort': 38008.42578125, 'target_position': 0.1281360387802124}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 26.14544677734375, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 32.999237060546875, 'speed_limit': 1.0, 'motor_currents': -24.456806182861328, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_finger, id=53, type=unknown, extra={} state={'position': 2.267223596572876, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.2687575817108154}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 26.341962814331055, 'motor_velocities': 1.401298464324817e-43, 'torque_limit': 1.0, 'motor_temperature': 31.880615234375, 'speed_limit': 1.0, 'motor_currents': -4818.5087890625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -4.603518009185791}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.23943644762039185, 'velocity': -9.80908925027372e-45, 'effort': 69.49241638183594, 'axis_sensor': -0.2514802813529968, 'target_position': -0.23943644762039185}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: 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': 0.021475791931152344, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.021475791931152344}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.0015339851379394531})], 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': 0.021475791931152344, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.021475791931152344}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.0015339851379394531, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.0015339851379394531})}) May 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: 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 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] May 07 03:06:47 r2-0008 docker[95579]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 07 03:06:47 r2-0008 docker[95579]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 07 03:06:47 r2-0008 docker[95579]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 07 03:06:47 r2-0008 docker[95579]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 07 03:06:47 r2-0008 docker[95579]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' ^C