May 13 03:07:46 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:46Z INFO server] GRPC EtherCAT Slave 2 | commands sent 491.64 cmd/s, commands dropped 0.77 req/s, command time: 2.03 (max 16.35) ms May 13 03:07:47 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:47Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.99777 req/s May 13 03:07:47 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:47Z INFO server] GRPC EtherCAT Slave 3 | commands sent 507.43 cmd/s, commands dropped 0.77 req/s, command time: 1.97 (max 16.32) ms May 13 03:07:47 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:47Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.99182 req/s May 13 03:07:47 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:47Z INFO server] GRPC EtherCAT Slave 4 | commands sent 492.79 cmd/s, commands dropped 1.07 req/s, command time: 2.03 (max 16.31) ms May 13 03:07:47 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:47Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.0108 req/s May 13 03:07:47 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:47Z INFO server] GRPC EtherCAT Slave 5 | commands sent 491.72 cmd/s, commands dropped 0.93 req/s, command time: 2.03 (max 16.41) ms May 13 03:07:47 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:47Z INFO server] GRPC EtherCAT Slave 6 | commands sent 508.64 cmd/s, commands dropped 1.17 req/s, command time: 1.97 (max 16.39) ms May 13 03:07:47 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:47Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.00485 req/s May 13 03:07:48 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:48Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 934.84 Hz May 13 03:07:58 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:07:58Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 936.72 Hz May 13 03:07:59 r2-0008 systemd[1]: Stopping Reachy2 Core... May 13 03:07:59 r2-0008 docker[38386]: Container core Stopping May 13 03:07:59 r2-0008 docker[38386]: Container core Stopping May 13 03:08:08 r2-0008 docker[30063]: core | [ethercat_master_server-1] [2026-05-13T01:08:08Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 932.13 Hz May 13 03:08:09 r2-0008 docker[38386]: Container core Stopped May 13 03:08:09 r2-0008 docker[38386]: Container core Removing May 13 03:08:09 r2-0008 docker[30063]: core exited with code 0 May 13 03:08:09 r2-0008 docker[38386]: Container core Removed May 13 03:08:09 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 13 03:08:09 r2-0008 systemd[1]: Stopped Reachy2 Core. May 13 03:08:09 r2-0008 systemd[1]: Starting Reachy2 Core... May 13 03:08:09 r2-0008 bash[38671]: What a clear sky to launch a [core] container May 13 03:08:09 r2-0008 systemd[1]: Started Reachy2 Core. May 13 03:08:09 r2-0008 docker[38715]: Container core Creating May 13 03:08:09 r2-0008 docker[38715]: Container core Created May 13 03:08:09 r2-0008 docker[38715]: Attaching to core May 13 03:08:10 r2-0008 docker[38715]: core | Input : Rode, Output: Rode May 13 03:08:10 r2-0008 docker[38715]: core | ALSA configuration generated with the following settings: May 13 03:08:10 r2-0008 docker[38715]: core | Sink Card: 1,0 May 13 03:08:10 r2-0008 docker[38715]: core | Source Card: 1,0 May 13 03:08:10 r2-0008 docker[38715]: core | Period Size: 512 May 13 03:08:10 r2-0008 docker[38715]: core | Buffer Size: 2048 May 13 03:08:10 r2-0008 docker[38715]: core | Sound config written to ~/.asoundrc May 13 03:08:10 r2-0008 docker[38715]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-13-01-08-10-813613-r2-0008-107 May 13 03:08:10 r2-0008 docker[38715]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 13 03:08:11 r2-0008 docker[38715]: core | No logs&bags to clear May 13 03:08:11 r2-0008 docker[38715]: core | [INFO] [launch.user]: May 13 03:08:11 r2-0008 docker[38715]: core | -------------------------------------------------- May 13 03:08:11 r2-0008 docker[38715]: core | Configuration May 13 03:08:11 r2-0008 docker[38715]: core | -------------------------------------------------- May 13 03:08:11 r2-0008 docker[38715]: core | May 13 03:08:11 r2-0008 docker[38715]: core | [reachy.yaml] configuration override May 13 03:08:11 r2-0008 docker[38715]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 13 03:08:11 r2-0008 docker[38715]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 03:08:11 r2-0008 docker[38715]: core | May 13 03:08:11 r2-0008 docker[38715]: core | Validating configuration files... May 13 03:08:11 r2-0008 docker[38715]: core | Reachy config loaded successfully May 13 03:08:11 r2-0008 docker[38715]: core | [INFO] [launch.user]: Reachy config : May 13 03:08:11 r2-0008 docker[38715]: core | robot_model full_kit May 13 03:08:11 r2-0008 docker[38715]: core | May 13 03:08:11 r2-0008 docker[38715]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 13 03:08:11 r2-0008 docker[38715]: core | [INFO] [launch.user]: Reachy URDF config : May 13 03:08:11 r2-0008 docker[38715]: core | depth_camera true May 13 03:08:11 r2-0008 docker[38715]: core | robot_config full_kit May 13 03:08:11 r2-0008 docker[38715]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 13 03:08:11 r2-0008 docker[38715]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 13 03:08:11 r2-0008 docker[38715]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 13 03:08:11 r2-0008 docker[38715]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 13 03:08:11 r2-0008 docker[38715]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 13 03:08:11 r2-0008 docker[38715]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 13 03:08:11 r2-0008 docker[38715]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 13 03:08:11 r2-0008 docker[38715]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 13 03:08:11 r2-0008 docker[38715]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 13 03:08:11 r2-0008 docker[38715]: core | robot_model "dvt" May 13 03:08:11 r2-0008 docker[38715]: core | May 13 03:08:11 r2-0008 docker[38715]: core | [INFO] [launch.user]: May 13 03:08:11 r2-0008 docker[38715]: core | -------------------------------------------------- May 13 03:08:11 r2-0008 docker[38715]: core | Launching nodes... May 13 03:08:11 r2-0008 docker[38715]: core | -------------------------------------------------- May 13 03:08:11 r2-0008 docker[38715]: core | May 13 03:08:11 r2-0008 docker[38715]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:11 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:11Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 13 03:08:12 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:12Z INFO server] POULPE controller ready! May 13 03:08:15 r2-0008 docker[38715]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 13 03:08:15 r2-0008 docker[38715]: core | [ros2_control_node-2] [WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. May 13 03:08:15 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:15Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 13 03:08:15 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:15Z INFO poulpe_ethercat_controller] Slave 0, inital state: QuickStopActive May 13 03:08:15 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:15Z WARN poulpe_ethercat_controller] Slave 0 in OperationEnabled state, turning off May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [194] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [184] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [hal-4]: process started with pid [186] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [fake_gz_interface-5]: process started with pid [188] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [robot_state_publisher-6]: process started with pid [190] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [192] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [196] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [component_container-10]: process started with pid [198] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [goto_server-11]: process started with pid [200] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [dynamic_state_router-12]: process started with pid [202] May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [rosbag-13]: process started with pid [204] May 13 03:08:16 r2-0008 docker[38715]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0 May 13 03:08:16 r2-0008 docker[38715]: core | [robot_state_publisher-6] [WARN]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 03:08:16 r2-0008 docker[38715]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 13 03:08:16 r2-0008 docker[38715]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 13 03:08:16 r2-0008 docker[38715]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 13 03:08:16 r2-0008 docker[38715]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 13 03:08:16 r2-0008 docker[38715]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 13 03:08:16 r2-0008 docker[38715]: core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz, May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [05/13 01:08:16.388759][info][198][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [05/13 01:08:16.389572][info][198][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [05/13 01:08:16.390198][info][198][LinuxPal.cpp:32] createObPal: create LinuxPal! May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [05/13 01:08:16.393708][info][198][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [05/13 01:08:16.394313][info][198][DeviceManager.cpp:15] Current found device(s): (1) May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [05/13 01:08:16.394748][info][198][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 13 03:08:16 r2-0008 docker[38715]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Connecting to the default device May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Select device cost 180 ms May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: current time domain: device May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Create align filter May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Depth process is HW D2D May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting LDP to ON May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting laser control to 1 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Available presets: May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Preset 0: Custom May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Preset 1: Default May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Load device preset: Default May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Device preset Default loaded May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-13-01-08-10-813613-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Listening for topics... May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: set DecimationFilter to false May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: set HDRMerge to false May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: set TemporalFilter to false May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Recording... May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Enable color stream May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Enable depth stream May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Enable frame sync May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Setting LDP to ON May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Current node pid: 198 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Start device cost 265 ms May 13 03:08:16 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Initialize device cost 74 ms May 13 03:08:16 r2-0008 docker[38715]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 13 03:08:16 r2-0008 docker[38715]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 13 03:08:16 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 13 03:08:16 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:16 r2-0008 docker[38715]: core | [hal-4] [INFO]: Starting zuuu_hal! May 13 03:08:16 r2-0008 docker[38715]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 13 03:08:16 r2-0008 docker[38715]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 13 03:08:16 r2-0008 docker[38715]: core | [hal-4] May 13 03:08:17 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:17 r2-0008 docker[38715]: core | [hal-4] [INFO]: zuuu version: 1.2 May 13 03:08:17 r2-0008 docker[38715]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 13 03:08:17 r2-0008 docker[38715]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 13 03:08:17 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 13 03:08:17 r2-0008 docker[38715]: core | [hal-4] [WARN]: Battery voltage OK (25.8V) May 13 03:08:17 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 13 03:08:17 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 13 03:08:17 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 13 03:08:17 r2-0008 docker[38715]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 13 03:08:17 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 13 03:08:17 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 13 03:08:17 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 13 03:08:17 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 13 03:08:17 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:17 r2-0008 docker[38715]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 13 03:08:17 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:17 r2-0008 docker[38715]: core | [ros2_control_node-2] [2026-05-13T01:08:17Z ERROR orbita3d_controller::io::poulpe_ethercat] Error: Timeout while connecting to the Orbita3d PoulpeRemoteClient with id 0 May 13 03:08:17 r2-0008 docker[38715]: core | [ros2_control_node-2] [ERROR]: Error loading config file: /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml May 13 03:08:17 r2-0008 docker[38715]: core | [ros2_control_node-2] [WARN]: System hardware component 'neck' from plugin 'orbita3d_system_hwi/Orbita3dSystem' failed to initialize. May 13 03:08:17 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:17 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:18 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:18 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:18 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:18 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:18 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 13 03:08:18 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:19 r2-0008 docker[38715]: core | [INFO] [reachy_grpc_joint_sdk_server-14]: process started with pid [507] May 13 03:08:19 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:19 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:19 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:19 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:19 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] [PID 507] Starting grpc server at 50051 May 13 03:08:19 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] Replaced serial_number reachy2-pvt-default => r2-0008 May 13 03:08:19 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 03:08:19 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] May 13 03:08:19 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] Validating configuration files... May 13 03:08:19 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:19 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 13 03:08:19 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 13 03:08:20 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:20 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:20 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:20 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:20 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 13 03:08:20 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:21 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:21 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:21 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:21 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:21 r2-0008 docker[38715]: core | [INFO] [launch.user]: May 13 03:08:21 r2-0008 docker[38715]: core | -------------------------------------------------- May 13 03:08:21 r2-0008 docker[38715]: core | Node Watcher Report May 13 03:08:21 r2-0008 docker[38715]: core | Logging to /home/reachy/.ros/log/2026-05-13-01-08-10-813613-r2-0008-107 May 13 03:08:21 r2-0008 docker[38715]: core | Un-monitored nodes[26/26] May 13 03:08:21 r2-0008 docker[38715]: core | Failed[0/0]: [] May 13 03:08:21 r2-0008 docker[38715]: core | Success[0/0]: [] May 13 03:08:21 r2-0008 docker[38715]: core | -------------------------------------------------- May 13 03:08:21 r2-0008 docker[38715]: core | May 13 03:08:21 r2-0008 docker[38715]: core | [INFO] [aplay-15]: process details: cmd='aplay /home/reachy/dev/reachy2_sounds/MA_BANT_GAME_PACK_2.wav', cwd='None', custom_env?=True May 13 03:08:21 r2-0008 docker[38715]: core | [INFO] [aplay-15]: process started with pid [569] May 13 03:08:21 r2-0008 docker[38715]: core | [aplay-15] Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_GAME_PACK_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo May 13 03:08:21 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Done! May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] New client - update period of 0.002s May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Done! May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] New client - update period of 0.002s May 13 03:08:22 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Done! May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] New client - update period of 0.002s May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 943.71 Hz May 13 03:08:22 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Done! May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] New client - update period of 0.002s May 13 03:08:22 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Done! May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] New client - update period of 0.002s May 13 03:08:22 r2-0008 docker[38715]: core | [INFO] [aplay-15]: process has finished cleanly [pid 569] May 13 03:08:22 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Done! May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] New client - update period of 0.002s May 13 03:08:22 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 13 03:08:22 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] Done! May 13 03:08:22 r2-0008 docker[38715]: core | [ethercat_master_server-1] [2026-05-13T01:08:22Z INFO server] New client - update period of 0.002s May 13 03:08:23 r2-0008 docker[38715]: core | [ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error' May 13 03:08:23 r2-0008 docker[38715]: core | [ros2_control_node-2] what(): Wrong state or command interface configuration. May 13 03:08:23 r2-0008 docker[38715]: core | [ros2_control_node-2] missing state interfaces: May 13 03:08:23 r2-0008 docker[38715]: core | [ros2_control_node-2] ' neck_roll/position ' ' neck_roll/velocity ' ' neck_roll/effort ' ' neck_pitch/position ' ' neck_pitch/velocity ' ' neck_pitch/effort ' ' neck_yaw/position ' ' neck_yaw/velocity ' ' neck_yaw/effort ' ' neck/torque ' ' neck/errors ' ' neck/control_mode ' ' neck_raw_motor_1/speed_limit ' ' neck_raw_motor_1/torque_limit ' ' neck_raw_motor_1/p_gain ' ' neck_raw_motor_1/i_gain ' ' neck_raw_motor_1/d_gain ' ' neck_raw_motor_1/motor_temperature ' ' neck_raw_motor_1/board_temperature ' ' neck_raw_motor_1/motor_currents ' ' neck_raw_motor_1/motor_velocities ' ' neck_raw_motor_2/speed_limit ' ' neck_raw_motor_2/torque_limit ' ' neck_raw_motor_2/p_gain ' ' neck_raw_motor_2/i_gain ' ' neck_raw_motor_2/d_gain ' ' neck_raw_motor_2/motor_temperature ' ' neck_raw_motor_2/board_temperature ' ' neck_raw_motor_2/motor_currents ' ' neck_raw_motor_2/motor_velocities ' ' neck_raw_motor_3/speed_limit ' ' neck_raw_motor_3/torque_limit ' ' neck_raw_motor_3/p_gain ' ' neck_raw_motor_3/i_gain ' ' neck_raw_motor_3/d_gain ' ' neck_raw_motor_3/motor_temperature ' ' neck_raw_motor_3/board_temperature ' ' neck_raw_motor_3/motor_currents ' ' neck_raw_motor_3/motor_velocities ' May 13 03:08:23 r2-0008 docker[38715]: core | [ros2_control_node-2] missing command interfaces: May 13 03:08:23 r2-0008 docker[38715]: core | [ros2_control_node-2] ' neck_roll/position ' ' neck_roll/velocity ' ' neck_roll/effort ' ' neck_pitch/position ' ' neck_pitch/velocity ' ' neck_pitch/effort ' ' neck_yaw/position ' ' neck_yaw/velocity ' ' neck_yaw/effort ' ' neck/torque ' ' neck/control_mode ' ' neck_raw_motor_1/speed_limit ' ' neck_raw_motor_1/torque_limit ' ' neck_raw_motor_1/p_gain ' ' neck_raw_motor_1/i_gain ' ' neck_raw_motor_1/d_gain ' ' neck_raw_motor_2/speed_limit ' ' neck_raw_motor_2/torque_limit ' ' neck_raw_motor_2/p_gain ' ' neck_raw_motor_2/i_gain ' ' neck_raw_motor_2/d_gain ' ' neck_raw_motor_3/speed_limit ' ' neck_raw_motor_3/torque_limit ' ' neck_raw_motor_3/p_gain ' ' neck_raw_motor_3/i_gain ' ' neck_raw_motor_3/d_gain ' May 13 03:08:23 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:23 r2-0008 docker[38715]: core | [ERROR] [ros2_control_node-2]: process has died [pid 130, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_t6wudq9i --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. May 13 03:08:23 r2-0008 docker[38715]: core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] May 13 03:08:23 r2-0008 docker[38715]: core | [INFO] [rosbag_snapshot_dump-16]: process started with pid [845] May 13 03:08:23 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:23 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:23 r2-0008 docker[38715]: core | [rosbag_snapshot_dump-16] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() May 13 03:08:23 r2-0008 docker[38715]: core | [rosbag_snapshot_dump-16] May 13 03:08:23 r2-0008 docker[38715]: core | [rosbag_snapshot_dump-16] response: May 13 03:08:23 r2-0008 docker[38715]: core | [rosbag_snapshot_dump-16] rosbag2_interfaces.srv.Snapshot_Response(success=True) May 13 03:08:23 r2-0008 docker[38715]: core | [rosbag_snapshot_dump-16] May 13 03:08:23 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:23 r2-0008 docker[38715]: core | [INFO] [rosbag_snapshot_dump-16]: process has finished cleanly [pid 845] May 13 03:08:23 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:24 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:24 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:24 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:24 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:24 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 13 03:08:24 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:25 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ros2_control_node] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [reachy_grpc_joint_sdk_server-14]: sending signal 'SIGINT' to process[reachy_grpc_joint_sdk_server-14] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [joint_state_broadcaster-7]: sending signal 'SIGINT' to process[joint_state_broadcaster-7] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] May 13 03:08:26 r2-0008 docker[38715]: core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 194, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [ethercat_master_server-1]: sending signal 'SIGINT' to process[ethercat_master_server-1] May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] Traceback (most recent call last): May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server", line 33, in May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_joint_sdk_server')()) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/joint_server.py", line 196, in main_singleprocess May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] servicer = ReachyGRPCJointSDKServicer( May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/joint_server.py", line 42, in __init__ May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] self.bridge_node = AbstractBridgeNode( May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/abstract_bridge_node.py", line 102, in __init__ May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] self.wait_for_setup() May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/abstract_bridge_node.py", line 162, in wait_for_setup May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] rclpy.spin_once(self) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] executor.spin_once(timeout_sec=timeout_sec) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] self._spin_once_impl(timeout_sec) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] return next(self._cb_iter) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] wait_set.wait(timeout_nsec) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] KeyboardInterrupt May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] Traceback (most recent call last): May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 397, in main May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] node = DynamicStateRouterNode( May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 91, in __init__ May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] self.wait_for_setup() May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 384, in wait_for_setup May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] rclpy.spin_once(self) May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] executor.spin_once(timeout_sec=timeout_sec) May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] return next(self._cb_iter) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) May 13 03:08:26 r2-0008 docker[38715]: core | [dynamic_state_router-12] KeyboardInterrupt May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] Traceback (most recent call last): May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 590, in main May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] joint_state_handler = CentralJointStateHandler(callback_group) May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 46, in __init__ May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] time.sleep(0.1) May 13 03:08:26 r2-0008 docker[38715]: core | [goto_server-11] KeyboardInterrupt May 13 03:08:26 r2-0008 docker[38715]: core | [component_container-10] [INFO]: signal_handler(signum=2) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] self.run() May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] return _common.wait( May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] executor.spin_once() May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] Traceback (most recent call last): May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] sys.exit(load_entry_point('controller-manager==2.42.0', 'console_scripts', 'spawner')()) May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] if not wait_for_controller_manager( May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 117, in wait_for_controller_manager May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] return wait_for_value_or( May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] time.sleep(0.2) May 13 03:08:26 r2-0008 docker[38715]: core | [joint_state_broadcaster-7] KeyboardInterrupt May 13 03:08:26 r2-0008 docker[38715]: core | [component_container-10] [WARN]: Do destroy ~OBCameraNode May 13 03:08:26 r2-0008 docker[38715]: core | [component_container-10] [WARN]: Stop tf thread May 13 03:08:26 r2-0008 docker[38715]: core | [component_container-10] [WARN]: Stop color frame thread May 13 03:08:26 r2-0008 docker[38715]: core | [component_container-10] [INFO]: Color frame thread exit! May 13 03:08:26 r2-0008 docker[38715]: core | [component_container-10] [WARN]: stop streams May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] Traceback (most recent call last): May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] rclpy.spin(publisher) May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] executor.spin_once() May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] return next(self._cb_iter) May 13 03:08:26 r2-0008 docker[38715]: 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 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) May 13 03:08:26 r2-0008 docker[38715]: core | [fake_gz_interface-5] KeyboardInterrupt May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] **************************************** May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] grpc-server_SDK.50051::python_gc stop: 43.646ms May 13 03:08:26 r2-0008 docker[38715]: core | [reachy_grpc_joint_sdk_server-14] **************************************** May 13 03:08:26 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while May 13 03:08:26 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Event publisher thread: Exiting May 13 03:08:26 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Recording stopped May 13 03:08:26 r2-0008 docker[38715]: core | [rosbag-13] [INFO]: Recording stopped May 13 03:08:26 r2-0008 docker[38715]: core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 196, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] May 13 03:08:26 r2-0008 docker[38715]: core | [ERROR] [robot_state_publisher-6]: process has died [pid 190, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_0btnz0ew']. May 13 03:08:26 r2-0008 docker[38715]: core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] May 13 03:08:26 r2-0008 docker[38715]: core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] Traceback (most recent call last): May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] raise RuntimeError(msg) May 13 03:08:26 r2-0008 docker[38715]: core | [hal-4] RuntimeError: Default zuuu_hal shutdown May 13 03:08:26 r2-0008 docker[38715]: core | [rplidar_scan_publisher-3] [INFO]: Stop motor May 13 03:08:27 r2-0008 docker[38715]: core | [ERROR] [joint_state_broadcaster-7]: process has died [pid 192, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_broadcaster']. May 13 03:08:27 r2-0008 docker[38715]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested May 13 03:08:27 r2-0008 docker[38715]: core | [ERROR] [goto_server-11]: process has died [pid 200, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. May 13 03:08:27 r2-0008 docker[38715]: core | [INFO] [launch.user]: Critical node failed : [goto_server] May 13 03:08:27 r2-0008 docker[38715]: core | [ERROR] [fake_gz_interface-5]: process has died [pid 188, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_dsolw37e']. May 13 03:08:27 r2-0008 docker[38715]: core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] May 13 03:08:27 r2-0008 docker[38715]: core | [INFO] [rosbag-13]: process has finished cleanly [pid 204] May 13 03:08:27 r2-0008 docker[38715]: core | [ERROR] [dynamic_state_router-12]: process has died [pid 202, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. May 13 03:08:27 r2-0008 docker[38715]: core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] May 13 03:08:27 r2-0008 docker[38715]: core | [ERROR] [reachy_grpc_joint_sdk_server-14]: process has died [pid 507, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server /home/reachy/.reachy_config/reachy.yaml 2 --ros-args']. May 13 03:08:27 r2-0008 docker[38715]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_joint_sdk_server] May 13 03:08:27 r2-0008 docker[38715]: core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 184] May 13 03:08:27 r2-0008 docker[38715]: core | [INFO] [component_container-10]: process has finished cleanly [pid 198] May 13 03:08:28 r2-0008 docker[38715]: core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate '2' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 13 03:08:28 r2-0008 docker[38715]: core | [INFO] [ethercat_master_server-1]: sending signal 'SIGTERM' to process[ethercat_master_server-1] May 13 03:08:28 r2-0008 docker[38715]: core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code -15, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. May 13 03:08:28 r2-0008 docker[38715]: core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] May 13 03:08:28 r2-0008 docker[38715]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 13 03:08:28 r2-0008 docker[38715]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 13 03:08:31 r2-0008 docker[38715]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 13 03:08:31 r2-0008 docker[38715]: core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] May 13 03:08:32 r2-0008 docker[38715]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): '_io.StringIO' object has no attribute 'info' May 13 03:08:36 r2-0008 docker[38715]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' May 13 03:08:36 r2-0008 docker[38715]: core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] May 13 03:08:36 r2-0008 docker[38715]: core | [ERROR] [hal-4]: process has died [pid 186, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_m3yhlpil']. May 13 03:08:36 r2-0008 docker[38715]: 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 13 03:08:37 r2-0008 docker[38715]: core exited with code 0 May 13 03:08:37 r2-0008 docker[40577]: Container core Stopping May 13 03:08:37 r2-0008 docker[40577]: Container core Stopping May 13 03:08:37 r2-0008 docker[40577]: Container core Stopped May 13 03:08:37 r2-0008 docker[40577]: Container core Removing May 13 03:08:37 r2-0008 docker[40577]: Container core Removed May 13 03:08:37 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 13 03:08:44 r2-0008 systemd[1]: reachy2-core.service: Scheduled restart job, restart counter is at 1. May 13 03:08:44 r2-0008 systemd[1]: Stopped Reachy2 Core. May 13 03:08:44 r2-0008 systemd[1]: Starting Reachy2 Core... May 13 03:08:44 r2-0008 bash[40713]: What a clear sky to launch a [core] container May 13 03:08:44 r2-0008 systemd[1]: Started Reachy2 Core. May 13 03:08:44 r2-0008 docker[40753]: Container core Creating May 13 03:08:44 r2-0008 docker[40753]: Container core Created May 13 03:08:44 r2-0008 docker[40753]: Attaching to core May 13 03:08:45 r2-0008 docker[40753]: core | Input : Rode, Output: Rode May 13 03:08:45 r2-0008 docker[40753]: core | ALSA configuration generated with the following settings: May 13 03:08:45 r2-0008 docker[40753]: core | Sink Card: 1,0 May 13 03:08:45 r2-0008 docker[40753]: core | Source Card: 1,0 May 13 03:08:45 r2-0008 docker[40753]: core | Period Size: 512 May 13 03:08:45 r2-0008 docker[40753]: core | Buffer Size: 2048 May 13 03:08:45 r2-0008 docker[40753]: core | Sound config written to ~/.asoundrc May 13 03:08:45 r2-0008 docker[40753]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-13-01-08-45-520280-r2-0008-107 May 13 03:08:45 r2-0008 docker[40753]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 13 03:08:46 r2-0008 docker[40753]: core | [INFO] [launch.user]: May 13 03:08:46 r2-0008 docker[40753]: core | -------------------------------------------------- May 13 03:08:46 r2-0008 docker[40753]: core | Configuration May 13 03:08:46 r2-0008 docker[40753]: core | -------------------------------------------------- May 13 03:08:46 r2-0008 docker[40753]: core | May 13 03:08:46 r2-0008 docker[40753]: core | [reachy.yaml] configuration override May 13 03:08:46 r2-0008 docker[40753]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 13 03:08:46 r2-0008 docker[40753]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 03:08:46 r2-0008 docker[40753]: core | May 13 03:08:46 r2-0008 docker[40753]: core | Validating configuration files... May 13 03:08:46 r2-0008 docker[40753]: core | Reachy config loaded successfully May 13 03:08:46 r2-0008 docker[40753]: core | [INFO] [launch.user]: Reachy config : May 13 03:08:46 r2-0008 docker[40753]: core | robot_model full_kit May 13 03:08:46 r2-0008 docker[40753]: core | May 13 03:08:46 r2-0008 docker[40753]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 13 03:08:46 r2-0008 docker[40753]: core | [INFO] [launch.user]: Reachy URDF config : May 13 03:08:46 r2-0008 docker[40753]: core | depth_camera true May 13 03:08:46 r2-0008 docker[40753]: core | robot_config full_kit May 13 03:08:46 r2-0008 docker[40753]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 13 03:08:46 r2-0008 docker[40753]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 13 03:08:46 r2-0008 docker[40753]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 13 03:08:46 r2-0008 docker[40753]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 13 03:08:46 r2-0008 docker[40753]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 13 03:08:46 r2-0008 docker[40753]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 13 03:08:46 r2-0008 docker[40753]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 13 03:08:46 r2-0008 docker[40753]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 13 03:08:46 r2-0008 docker[40753]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 13 03:08:46 r2-0008 docker[40753]: core | robot_model "dvt" May 13 03:08:46 r2-0008 docker[40753]: core | May 13 03:08:46 r2-0008 docker[40753]: core | [INFO] [launch.user]: May 13 03:08:46 r2-0008 docker[40753]: core | -------------------------------------------------- May 13 03:08:46 r2-0008 docker[40753]: core | Launching nodes... May 13 03:08:46 r2-0008 docker[40753]: core | -------------------------------------------------- May 13 03:08:46 r2-0008 docker[40753]: core | May 13 03:08:46 r2-0008 docker[40753]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:46 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 13 03:08:47 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:46Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 03:08:47 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:47Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 13 03:08:47 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:47Z INFO server] POULPE controller ready! May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 13 03:08:50 r2-0008 docker[40753]: core | [ros2_control_node-2] [WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Done! May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] New client - update period of 0.002s May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Done! May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] New client - update period of 0.002s May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Done! May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] New client - update period of 0.002s May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [291] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [281] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [hal-4]: process started with pid [283] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [fake_gz_interface-5]: process started with pid [285] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [robot_state_publisher-6]: process started with pid [287] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [289] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [293] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [component_container-10]: process started with pid [295] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [goto_server-11]: process started with pid [297] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [dynamic_state_router-12]: process started with pid [299] May 13 03:08:50 r2-0008 docker[40753]: core | [INFO] [rosbag-13]: process started with pid [301] May 13 03:08:50 r2-0008 docker[40753]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0 May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Done! May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] New client - update period of 0.002s May 13 03:08:50 r2-0008 docker[40753]: core | [robot_state_publisher-6] [WARN]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 03:08:50 r2-0008 docker[40753]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 13 03:08:50 r2-0008 docker[40753]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 13 03:08:50 r2-0008 docker[40753]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 13 03:08:50 r2-0008 docker[40753]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 13 03:08:50 r2-0008 docker[40753]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] Done! May 13 03:08:50 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:50Z INFO server] New client - update period of 0.002s May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 13 03:08:51 r2-0008 docker[40753]: core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz, May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO server] Done! May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO server] New client - update period of 0.002s May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO server] Done! May 13 03:08:51 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:51Z INFO server] New client - update period of 0.002s May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [05/13 01:08:51.302786][info][295][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [05/13 01:08:51.303561][info][295][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [05/13 01:08:51.304065][info][295][LinuxPal.cpp:32] createObPal: create LinuxPal! May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [05/13 01:08:51.308557][info][295][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [05/13 01:08:51.308636][info][295][DeviceManager.cpp:15] Current found device(s): (1) May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [05/13 01:08:51.308646][info][295][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 13 03:08:51 r2-0008 docker[40753]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Connecting to the default device May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-13-01-08-45-520280-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Listening for topics... May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Recording... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Select device cost 163 ms May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: current time domain: device May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Create align filter May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Depth process is HW D2D May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting LDP to ON May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting laser control to 1 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Available presets: May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Preset 0: Custom May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Preset 1: Default May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Load device preset: Default May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Device preset Default loaded May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: set DecimationFilter to false May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: set HDRMerge to false May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: set TemporalFilter to false May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Enable color stream May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Enable depth stream May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 13 03:08:51 r2-0008 docker[40753]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 13 03:08:51 r2-0008 docker[40753]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Enable frame sync May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Setting LDP to ON May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Current node pid: 295 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Start device cost 316 ms May 13 03:08:51 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Initialize device cost 143 ms May 13 03:08:51 r2-0008 docker[40753]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:51 r2-0008 docker[40753]: core | [hal-4] [INFO]: Starting zuuu_hal! May 13 03:08:51 r2-0008 docker[40753]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 13 03:08:51 r2-0008 docker[40753]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 13 03:08:51 r2-0008 docker[40753]: core | [hal-4] May 13 03:08:51 r2-0008 docker[40753]: core | [hal-4] [INFO]: zuuu version: 1.2 May 13 03:08:51 r2-0008 docker[40753]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 13 03:08:51 r2-0008 docker[40753]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:51 r2-0008 docker[40753]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 13 03:08:51 r2-0008 docker[40753]: core | [ros2_control_node-2] [WARN]: New subscription discovered on topic '/joint_states', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [WARN]: New publisher discovered on topic '/joint_states', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [WARN]: New publisher discovered on topic '/dynamic_joint_states', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 03:08:51 r2-0008 docker[40753]: core | [ros2_control_node-2] [WARN]: New subscription discovered on topic '/dynamic_joint_states', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 03:08:51 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 13 03:08:51 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 13 03:08:51 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 13 03:08:51 r2-0008 docker[40753]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 13 03:08:51 r2-0008 docker[40753]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 13 03:08:51 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [WARN]: A new publisher for subscribed topic /joint_states was found offering RMW_QOS_POLICY_DURABILITY_VOLATILE, but rosbag2 already subscribed requesting RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL. Messages from this new publisher will not be recorded. May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [WARN]: A new publisher for subscribed topic /dynamic_joint_states was found offering RMW_QOS_POLICY_DURABILITY_VOLATILE, but rosbag2 already subscribed requesting RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL. Messages from this new publisher will not be recorded. May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 13 03:08:51 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 13 03:08:51 r2-0008 docker[40753]: core | [hal-4] [WARN]: Battery voltage OK (25.7V) May 13 03:08:51 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 13 03:08:52 r2-0008 docker[40753]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 03:08:52 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 13 03:08:52 r2-0008 docker[40753]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 13 03:08:52 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 13 03:08:52 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Publishing static transform from color to depth May 13 03:08:52 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Translation 14.118, 0.040812, 1.60059 May 13 03:08:52 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Rotation 0.000462881, 0.000723912, 0.00109022, 0.999999 May 13 03:08:52 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Publishing static transform from depth to depth May 13 03:08:52 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Translation 0, 0, 0 May 13 03:08:52 r2-0008 docker[40753]: core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: Setup done! May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - r_arm_forward_position_controller: ['r_shoulder_pitch', 'r_shoulder_roll', 'r_elbow_yaw', 'r_elbow_pitch', 'r_wrist_roll', 'r_wrist_pitch', 'r_wrist_yaw'] (position) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - l_arm_forward_position_controller: ['l_shoulder_pitch', 'l_shoulder_roll', 'l_elbow_yaw', 'l_elbow_pitch', 'l_wrist_roll', 'l_wrist_pitch', 'l_wrist_yaw'] (position) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - forward_torque_controller: ['neck', 'r_shoulder', 'r_elbow', 'r_wrist', 'r_hand', 'l_shoulder', 'l_elbow', 'l_wrist', 'l_hand', 'antenna_left', 'antenna_right'] (torque) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - forward_torque_limit_controller: ['neck_raw_motor_1', 'neck_raw_motor_2', 'neck_raw_motor_3', 'r_shoulder_raw_motor_1', 'r_shoulder_raw_motor_2', 'r_elbow_raw_motor_1', 'r_elbow_raw_motor_2', 'r_wrist_raw_motor_1', 'r_wrist_raw_motor_2', 'r_wrist_raw_motor_3', 'r_hand_raw_motor_1', 'l_shoulder_raw_motor_1', 'l_shoulder_raw_motor_2', 'l_elbow_raw_motor_1', 'l_elbow_raw_motor_2', 'l_wrist_raw_motor_1', 'l_wrist_raw_motor_2', 'l_wrist_raw_motor_3', 'l_hand_raw_motor_1', 'antenna_left_raw_motor', 'antenna_right_raw_motor'] (torque_limit) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - forward_speed_limit_controller: ['neck_raw_motor_1', 'neck_raw_motor_2', 'neck_raw_motor_3', 'r_shoulder_raw_motor_1', 'r_shoulder_raw_motor_2', 'r_elbow_raw_motor_1', 'r_elbow_raw_motor_2', 'r_wrist_raw_motor_1', 'r_wrist_raw_motor_2', 'r_wrist_raw_motor_3', 'r_hand_raw_motor_1', 'l_shoulder_raw_motor_1', 'l_shoulder_raw_motor_2', 'l_elbow_raw_motor_1', 'l_elbow_raw_motor_2', 'l_wrist_raw_motor_1', 'l_wrist_raw_motor_2', 'l_wrist_raw_motor_3', 'l_hand_raw_motor_1', 'antenna_left_raw_motor', 'antenna_right_raw_motor'] (speed_limit) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - forward_pid_controller: ['neck_raw_motor_1', 'neck_raw_motor_2', 'neck_raw_motor_3', 'r_shoulder_raw_motor_1', 'r_shoulder_raw_motor_2', 'r_elbow_raw_motor_1', 'r_elbow_raw_motor_2', 'r_wrist_raw_motor_1', 'r_wrist_raw_motor_2', 'r_wrist_raw_motor_3', 'r_hand_raw_motor_1', 'l_shoulder_raw_motor_1', 'l_shoulder_raw_motor_2', 'l_elbow_raw_motor_1', 'l_elbow_raw_motor_2', 'l_wrist_raw_motor_1', 'l_wrist_raw_motor_2', 'l_wrist_raw_motor_3', 'l_hand_raw_motor_1', 'antenna_left_raw_motor', 'antenna_right_raw_motor'] (pid) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 13 03:08:52 r2-0008 docker[40753]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 289] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [844] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [forward_torque_controller-14]: process started with pid [816] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [818] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [820] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [forward_pid_controller-17]: process started with pid [822] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [gripper_current_controller-18]: process started with pid [824] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [gripper_mode_controller-19]: process started with pid [826] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [antenna_current_controller-20]: process started with pid [828] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [antenna_mode_controller-21]: process started with pid [830] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [832] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [834] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [836] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [838] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [840] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [842] May 13 03:08:52 r2-0008 docker[40753]: core | [INFO] [rviz2-29]: process started with pid [846] May 13 03:08:52 r2-0008 docker[40753]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 13 03:08:53 r2-0008 docker[40753]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 13 03:08:53 r2-0008 docker[40753]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 13 03:08:53 r2-0008 docker[40753]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 13 03:08:53 r2-0008 docker[40753]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 13 03:08:53 r2-0008 docker[40753]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 13 03:08:53 r2-0008 docker[40753]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 13 03:08:53 r2-0008 docker[40753]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 13 03:08:53 r2-0008 docker[40753]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 13 03:08:53 r2-0008 docker[40753]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 13 03:08:53 r2-0008 docker[40753]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 13 03:08:53 r2-0008 docker[40753]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 13 03:08:53 r2-0008 docker[40753]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 13 03:08:53 r2-0008 docker[40753]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1250] May 13 03:08:53 r2-0008 docker[40753]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 13 03:08:53 r2-0008 docker[40753]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 13 03:08:53 r2-0008 docker[40753]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 13 03:08:53 r2-0008 docker[40753]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 13 03:08:53 r2-0008 docker[40753]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 13 03:08:53 r2-0008 docker[40753]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 13 03:08:53 r2-0008 docker[40753]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 13 03:08:53 r2-0008 docker[40753]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 13 03:08:53 r2-0008 docker[40753]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 13 03:08:53 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 13 03:08:53 r2-0008 docker[40753]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 842] May 13 03:08:53 r2-0008 docker[40753]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 822] May 13 03:08:53 r2-0008 docker[40753]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 826] May 13 03:08:54 r2-0008 docker[40753]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 13 03:08:54 r2-0008 docker[40753]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 830] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 832] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 824] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 836] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 838] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 820] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 818] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 816] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 834] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 828] May 13 03:08:54 r2-0008 docker[40753]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 840] May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 13 03:08:54 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] **************************************** May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 39.124ms May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] **************************************** May 13 03:08:54 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 13 03:08:54 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 13 03:08:54 r2-0008 docker[40753]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 13 03:08:54 r2-0008 docker[40753]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 13 03:08:54 r2-0008 docker[40753]: core | [goto_server-11] [INFO]: Goto action server head init. May 13 03:08:54 r2-0008 docker[40753]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 13 03:08:54 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 13 03:08:54 r2-0008 docker[40753]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 13 03:08:54 r2-0008 docker[40753]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 13 03:08:54 r2-0008 docker[40753]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 13 03:08:54 r2-0008 docker[40753]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [PID 1250] Starting grpc server at 50051 May 13 03:08:55 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.0892 req/s May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 0 | commands sent 318.87 cmd/s, commands dropped 1.40 req/s, command time: 3.14 (max 1535.69) ms May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.1148 req/s May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 1 | commands sent 313.56 cmd/s, commands dropped 0.80 req/s, command time: 3.19 (max 1347.28) ms May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 1.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 27.820676803588867, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 26.1494140625, 'speed_limit': 1.0, 'motor_currents': -5882.80126953125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.00019296009850222617}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': 0.17451798915863037, 'velocity': -4.203895392974451e-45, 'effort': -16.296470642089844, 'axis_sensor': 0.1753833293914795, 'target_position': 0.17451798915863037}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow, id=4, type=orbita2d, extra={'name': 'l_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_raw_motor_1, id=5, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 75.56999969482422, 'temperature': 29.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 24.69903564453125, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 25.5128173828125, 'speed_limit': 1.0, 'motor_currents': -0.3922135531902313, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': -0.17400363087654114, 'velocity': 2.2420775429197073e-44, 'effort': 9.70654010772705, 'axis_sensor': -0.16853857040405273, 'target_position': -0.17400363087654114}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_finger, id=8, type=unknown, extra={} state={'position': 2.2687575817108154, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.2687575817108154}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': 0.00010019854380516335, 'velocity': 2.5223372357846707e-44, 'effort': 87.2770767211914, 'axis_sensor': -0.003994464874267578, 'target_position': 0.00010019854380516335}) May 13 03:08:55 r2-0008 docker[40753]: 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': 29.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow, id=11, type=orbita2d, extra={'name': 'r_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 24.555988311767578, 'motor_velocities': -9.10844001811131e-44, 'torque_limit': 1.0, 'motor_temperature': 25.15374755859375, 'speed_limit': 1.0, 'motor_currents': -23.3173885345459, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.17759430408477783, 'velocity': -4.203895392974451e-45, 'effort': 15.613933563232422, 'axis_sensor': -0.1862119436264038, 'target_position': 0.17759430408477783}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder, id=14, type=orbita2d, extra={'name': 'r_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: 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': 35.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 27.1073055267334, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 27.60845947265625, 'speed_limit': 1.0, 'motor_currents': 12.667144775390625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder, id=17, type=orbita2d, extra={'name': 'l_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: 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': 29.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 27.857925415039062, 'motor_velocities': 0.0005063227727077901, 'torque_limit': 1.0, 'motor_temperature': 29.951751708984375, 'speed_limit': 1.0, 'motor_currents': -14443.9404296875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.5528697967529297}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 25.304719924926758, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 26.8221435546875, 'speed_limit': 1.0, 'motor_currents': 1.3332281112670898, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.015339851379394531}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.17432790994644165, 'velocity': 4.8484398575965315e-05, 'effort': -27137.435546875, 'target_position': -0.17432790994644165}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 27.38959312438965, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 26.4571533203125, 'speed_limit': 1.0, 'motor_currents': 2607.250244140625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.011401494033634663}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 27.48941993713379, 'motor_velocities': -3.5904839990053006e-08, 'torque_limit': 1.0, 'motor_temperature': 25.106414794921875, 'speed_limit': 1.0, 'motor_currents': -14208.8681640625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0065015158616006374}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': 3.1803308957023546e-05, 'velocity': 1.0960989129671361e-05, 'effort': -35713.35546875, 'target_position': 3.1803308957023546e-05}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': -0.00010764530452433974, 'velocity': 9.344598947791383e-05, 'effort': -182443.53125, 'target_position': -0.00010764530452433974}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck, id=27, type=orbita3d, extra={'name': 'neck', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 27.50566864013672, 'motor_velocities': 0.0005572167574428022, 'torque_limit': 1.0, 'motor_temperature': 31.715423583984375, 'speed_limit': 1.0, 'motor_currents': -5501.72314453125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.5579422116279602}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': -0.002432685112580657, 'velocity': -8.407790785948902e-45, 'effort': 11.681120872497559, 'axis_sensor': -0.0094757080078125, 'target_position': -0.002432685112580657}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=drivewhl1_joint, id=30, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'target_position': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 25.948347091674805, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 25.17279052734375, 'speed_limit': 1.0, 'motor_currents': 8.722782135009766, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=drivewhl3_joint, id=32, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'target_position': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': -0.0003845829050987959, 'velocity': -1.0297648032064899e-06, 'effort': 62279.82421875, 'target_position': -0.0003845829050987959}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=tripod_joint, id=34, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'effort': 0.0, 'target_position': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 26.966480255126953, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 28.32769775390625, 'speed_limit': 1.0, 'motor_currents': 4244.279296875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.00942866038531065}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 26.270105361938477, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 25.190277099609375, 'speed_limit': 1.0, 'motor_currents': 20.540559768676758, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 27.978918075561523, 'motor_velocities': 0.00031327037140727043, 'torque_limit': 1.0, 'motor_temperature': 28.45574951171875, 'speed_limit': 1.0, 'motor_currents': -14269.3349609375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.008646011352539062}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=drivewhl2_joint, id=38, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'target_position': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.056757211685180664, 'velocity': 0.0, 'effort': -9.999999974752427e-07, 'torque': 1.0, 'target_position': -0.056757211685180664}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 27.748876571655273, 'motor_velocities': -2.974604058181285e-06, 'torque_limit': 1.0, 'motor_temperature': 24.808563232421875, 'speed_limit': 1.0, 'motor_currents': -10040.1044921875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.010744254104793072}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist, id=41, type=orbita3d, extra={'name': 'r_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': 2.274977305205539e-06, 'velocity': -1.5803194863828196e-10, 'effort': 82604.234375, 'target_position': 2.274977305205539e-06}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist, id=43, type=orbita3d, extra={'name': 'l_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': -0.0005909138126298785, 'velocity': -4.399274659296591e-14, 'effort': -21824.68359375, 'target_position': -0.0005909138126298785}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 26.824739456176758, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 27.503692626953125, 'speed_limit': 1.0, 'motor_currents': -10.896051406860352, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 1.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': 0.0003114819119218737, 'velocity': -7.013230788288638e-05, 'effort': -52592.84375, 'target_position': 0.0003208520938642323}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -2.6978945243172348e-05, 'velocity': -8.407790785948902e-45, 'effort': 32.39193344116211, 'axis_sensor': -0.0012774467468261719, 'target_position': -2.6978945243172348e-05}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': -0.0003168457478750497, 'velocity': -8.407790785948902e-45, 'effort': 9.832549095153809, 'axis_sensor': -0.002488851547241211, 'target_position': -0.0003168457478750497}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': 0.0009132681298069656, 'velocity': 1.7202234428581598e-11, 'effort': 33976.90234375, 'target_position': 0.0009132681298069656}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': -0.000513814331497997, 'velocity': -9.32761249714531e-05, 'effort': -1085.6912841796875, 'target_position': -0.0005264186183921993}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 25.055097579956055, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 26.48736572265625, 'speed_limit': 1.0, 'motor_currents': -7.88504695892334, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_finger, id=53, type=unknown, extra={} state={'position': 2.2687575817108154, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.2687575817108154}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 26.66530418395996, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 29.112762451171875, 'speed_limit': 1.0, 'motor_currents': -3886.209716796875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.0010064443340525031}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.17585957050323486, 'velocity': 4.203895392974451e-45, 'effort': 37.4350700378418, 'axis_sensor': -0.18589895963668823, 'target_position': -0.17585957050323486}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='r_arm', id=1, type='arm', components=[Component(name=r_shoulder, id=14, type=orbita2d, extra={'name': 'r_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), Component(name=r_elbow, id=11, type=orbita2d, extra={'name': 'r_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), Component(name=r_wrist, id=41, type=orbita3d, extra={'name': 'r_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})], components_dict={'shoulder': Component(name=r_shoulder, id=14, type=orbita2d, extra={'name': 'r_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), 'elbow': Component(name=r_elbow, id=11, type=orbita2d, extra={'name': 'r_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), 'wrist': Component(name=r_wrist, id=41, type=orbita3d, extra={'name': 'r_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='l_arm', id=2, type='arm', components=[Component(name=l_shoulder, id=17, type=orbita2d, extra={'name': 'l_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), Component(name=l_elbow, id=4, type=orbita2d, extra={'name': 'l_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), Component(name=l_wrist, id=43, type=orbita3d, extra={'name': 'l_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})], components_dict={'shoulder': Component(name=l_shoulder, id=17, type=orbita2d, extra={'name': 'l_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), 'elbow': Component(name=l_elbow, id=4, type=orbita2d, extra={'name': 'l_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), 'wrist': Component(name=l_wrist, id=43, type=orbita3d, extra={'name': 'l_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='head', id=3, type='head', components=[Component(name=neck, id=27, type=orbita3d, extra={'name': 'neck', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}), Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.015339851379394531}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.056757211685180664, 'velocity': 0.0, 'effort': -9.999999974752427e-07, 'torque': 1.0, 'target_position': -0.056757211685180664})], components_dict={'neck': Component(name=neck, id=27, type=orbita3d, extra={'name': 'neck', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}), 'antenna_left': Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.015339851379394531, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.015339851379394531}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.056757211685180664, 'velocity': 0.0, 'effort': -9.999999974752427e-07, 'torque': 1.0, 'target_position': -0.056757211685180664})}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='l_hand', id=4, type='hand', components=[Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})], components_dict={'hand': Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='r_hand', id=5, type='hand', components=[Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})], components_dict={'hand': Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})}) May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 2 | commands sent 335.80 cmd/s, commands dropped 1.20 req/s, command time: 2.98 (max 1142.26) ms May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.17032 req/s May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [PID 1250] Ready to start May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_joint_sdk_server-30] [PID 1250] Server started on port 50051. May 13 03:08:55 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 13 03:08:55 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 13 03:08:55 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 13 03:08:55 r2-0008 docker[40753]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 3 | commands sent 374.37 cmd/s, commands dropped 1.00 req/s, command time: 2.67 (max 929.19) ms May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.02448 req/s May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 13 03:08:55 r2-0008 docker[40753]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.10547 req/s May 13 03:08:55 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:55Z INFO server] GRPC EtherCAT Slave 4 | commands sent 371.47 cmd/s, commands dropped 1.40 req/s, command time: 2.69 (max 795.69) ms May 13 03:08:56 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:56Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.11023 req/s May 13 03:08:56 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:56Z INFO server] GRPC EtherCAT Slave 5 | commands sent 394.54 cmd/s, commands dropped 1.40 req/s, command time: 2.53 (max 679.32) ms May 13 03:08:56 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:56Z INFO server] GRPC EtherCAT Slave 6 | commands sent 424.13 cmd/s, commands dropped 0.60 req/s, command time: 2.36 (max 464.46) ms May 13 03:08:56 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:56Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.0956 req/s May 13 03:08:56 r2-0008 docker[40753]: core | [INFO] [launch.user]: May 13 03:08:56 r2-0008 docker[40753]: core | -------------------------------------------------- May 13 03:08:56 r2-0008 docker[40753]: core | Node Watcher Report May 13 03:08:56 r2-0008 docker[40753]: core | Logging to /home/reachy/.ros/log/2026-05-13-01-08-45-520280-r2-0008-107 May 13 03:08:56 r2-0008 docker[40753]: core | Un-monitored nodes[11/26] May 13 03:08:56 r2-0008 docker[40753]: core | Failed[0/15]: [] May 13 03:08:56 r2-0008 docker[40753]: core | Success[15/15]: ['joint_state_broadcaster', 'gripper_forward_position_controller', 'forward_pid_controller', 'gripper_mode_controller', 'antenna_mode_controller', 'neck_forward_position_controller', 'gripper_current_controller', 'tripod_forward_position_controller', 'r_arm_forward_position_controller', 'forward_speed_limit_controller', 'forward_torque_limit_controller', 'forward_torque_controller', 'antenna_forward_position_controller', 'antenna_current_controller', 'l_arm_forward_position_controller'] May 13 03:08:56 r2-0008 docker[40753]: core | -------------------------------------------------- May 13 03:08:56 r2-0008 docker[40753]: core | May 13 03:08:56 r2-0008 docker[40753]: core | [INFO] [aplay-31]: process details: cmd='aplay /home/reachy/dev/reachy2_sounds/MA_BANT_GAME_PACK_2.wav', cwd='None', custom_env?=True May 13 03:08:56 r2-0008 docker[40753]: core | [INFO] [aplay-31]: process started with pid [1382] May 13 03:08:56 r2-0008 docker[40753]: core | [aplay-31] Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_GAME_PACK_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo May 13 03:08:57 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:08:57Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 922.27 Hz May 13 03:08:57 r2-0008 docker[40753]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1382] May 13 03:09:07 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:09:07Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 931.49 Hz May 13 03:09:17 r2-0008 docker[40753]: core | [ethercat_master_server-1] [2026-05-13T01:09:17Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 928.87 Hz