May 12 04:48:00 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:00Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.98828 req/s May 12 04:48:00 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:00Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.00565 req/s May 12 04:48:00 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:00Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.00565 req/s May 12 04:48:00 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:00Z INFO server] GRPC EtherCAT Slave 3 | commands sent 507.17 cmd/s, commands dropped 2.00 req/s, command time: 1.97 (max 15.84) ms May 12 04:48:00 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:00Z INFO server] GRPC EtherCAT Slave 4 | commands sent 489.25 cmd/s, commands dropped 1.90 req/s, command time: 2.04 (max 15.74) ms May 12 04:48:00 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:00Z INFO server] GRPC EtherCAT Slave 5 | commands sent 488.46 cmd/s, commands dropped 2.27 req/s, command time: 2.05 (max 16.81) ms May 12 04:48:00 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:00Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.9974 req/s May 12 04:48:00 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:00Z INFO server] GRPC EtherCAT Slave 6 | commands sent 502.60 cmd/s, commands dropped 2.23 req/s, command time: 1.99 (max 15.83) ms May 12 04:48:00 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:00Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.00476 req/s May 12 04:48:01 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:01Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 927.42 Hz May 12 04:48:11 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:11Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 931.04 Hz May 12 04:48:12 r2-0008 systemd[1]: Stopping Reachy2 Core... May 12 04:48:12 r2-0008 docker[127854]: Container core Stopping May 12 04:48:12 r2-0008 docker[127854]: Container core Stopping May 12 04:48:21 r2-0008 docker[67203]: core | [ethercat_master_server-1] [2026-05-12T02:48:21Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 929.80 Hz May 12 04:48:23 r2-0008 docker[127854]: Container core Stopped May 12 04:48:23 r2-0008 docker[127854]: Container core Removing May 12 04:48:23 r2-0008 docker[67203]: core exited with code 0 May 12 04:48:23 r2-0008 docker[127854]: Container core Removed May 12 04:48:23 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 12 04:48:23 r2-0008 systemd[1]: Stopped Reachy2 Core. May 12 04:48:23 r2-0008 systemd[1]: reachy2-core.service: Consumed 2.320s CPU time. May 12 04:48:23 r2-0008 systemd[1]: Starting Reachy2 Core... May 12 04:48:23 r2-0008 bash[128147]: What a clear sky to launch a [core] container May 12 04:48:23 r2-0008 systemd[1]: Started Reachy2 Core. May 12 04:48:23 r2-0008 docker[128190]: Container core Creating May 12 04:48:23 r2-0008 docker[128190]: Container core Created May 12 04:48:23 r2-0008 docker[128190]: Attaching to core May 12 04:48:24 r2-0008 docker[128190]: core | Input : Rode, Output: Rode May 12 04:48:24 r2-0008 docker[128190]: core | ALSA configuration generated with the following settings: May 12 04:48:24 r2-0008 docker[128190]: core | Sink Card: 1,0 May 12 04:48:24 r2-0008 docker[128190]: core | Source Card: 1,0 May 12 04:48:24 r2-0008 docker[128190]: core | Period Size: 512 May 12 04:48:24 r2-0008 docker[128190]: core | Buffer Size: 2048 May 12 04:48:24 r2-0008 docker[128190]: core | Sound config written to ~/.asoundrc May 12 04:48:24 r2-0008 docker[128190]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-12-02-48-24-391409-r2-0008-107 May 12 04:48:24 r2-0008 docker[128190]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 12 04:48:24 r2-0008 docker[128190]: core | No logs&bags to clear May 12 04:48:24 r2-0008 docker[128190]: core | [INFO] [launch.user]: May 12 04:48:24 r2-0008 docker[128190]: core | -------------------------------------------------- May 12 04:48:24 r2-0008 docker[128190]: core | Configuration May 12 04:48:24 r2-0008 docker[128190]: core | -------------------------------------------------- May 12 04:48:24 r2-0008 docker[128190]: core | May 12 04:48:24 r2-0008 docker[128190]: core | [reachy.yaml] configuration override May 12 04:48:24 r2-0008 docker[128190]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:48:24 r2-0008 docker[128190]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:48:24 r2-0008 docker[128190]: core | May 12 04:48:24 r2-0008 docker[128190]: core | Validating configuration files... May 12 04:48:25 r2-0008 docker[128190]: core | Reachy config loaded successfully May 12 04:48:25 r2-0008 docker[128190]: core | [INFO] [launch.user]: Reachy config : May 12 04:48:25 r2-0008 docker[128190]: core | robot_model full_kit May 12 04:48:25 r2-0008 docker[128190]: core | May 12 04:48:25 r2-0008 docker[128190]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 12 04:48:25 r2-0008 docker[128190]: core | [INFO] [launch.user]: Reachy URDF config : May 12 04:48:25 r2-0008 docker[128190]: core | depth_camera true May 12 04:48:25 r2-0008 docker[128190]: core | robot_config full_kit May 12 04:48:25 r2-0008 docker[128190]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 12 04:48:25 r2-0008 docker[128190]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 12 04:48:25 r2-0008 docker[128190]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 12 04:48:25 r2-0008 docker[128190]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 12 04:48:25 r2-0008 docker[128190]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 12 04:48:25 r2-0008 docker[128190]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 12 04:48:25 r2-0008 docker[128190]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 12 04:48:25 r2-0008 docker[128190]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 12 04:48:25 r2-0008 docker[128190]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 12 04:48:25 r2-0008 docker[128190]: core | robot_model "dvt" May 12 04:48:25 r2-0008 docker[128190]: core | May 12 04:48:25 r2-0008 docker[128190]: core | [INFO] [launch.user]: May 12 04:48:25 r2-0008 docker[128190]: core | -------------------------------------------------- May 12 04:48:25 r2-0008 docker[128190]: core | Launching nodes... May 12 04:48:25 r2-0008 docker[128190]: core | -------------------------------------------------- May 12 04:48:25 r2-0008 docker[128190]: core | May 12 04:48:25 r2-0008 docker[128190]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 12 04:48:25 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:25Z INFO server] POULPE controller ready! May 12 04:48:28 r2-0008 docker[128190]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 12 04:48:28 r2-0008 docker[128190]: 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 12 04:48:28 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:28Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 12 04:48:28 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:28Z INFO poulpe_ethercat_controller] Slave 0, inital state: QuickStopActive May 12 04:48:28 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:28Z WARN poulpe_ethercat_controller] Slave 0 in OperationEnabled state, turning off May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [194] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [184] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [hal-4]: process started with pid [186] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [fake_gz_interface-5]: process started with pid [188] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [robot_state_publisher-6]: process started with pid [190] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [192] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [196] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [component_container-10]: process started with pid [198] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [goto_server-11]: process started with pid [200] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [dynamic_state_router-12]: process started with pid [202] May 12 04:48:29 r2-0008 docker[128190]: core | [INFO] [rosbag-13]: process started with pid [204] May 12 04:48:29 r2-0008 docker[128190]: 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 12 04:48:29 r2-0008 docker[128190]: 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 12 04:48:29 r2-0008 docker[128190]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 12 04:48:29 r2-0008 docker[128190]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 12 04:48:29 r2-0008 docker[128190]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 12 04:48:29 r2-0008 docker[128190]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 12 04:48:29 r2-0008 docker[128190]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 12 04:48:29 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 12 04:48:29 r2-0008 docker[128190]: 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 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [05/12 02:48:30.053871][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 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [05/12 02:48:30.053919][info][198][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [05/12 02:48:30.053946][info][198][LinuxPal.cpp:32] createObPal: create LinuxPal! May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [05/12 02:48:30.057403][info][198][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [05/12 02:48:30.057448][info][198][DeviceManager.cpp:15] Current found device(s): (1) May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [05/12 02:48:30.057458][info][198][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 12 04:48:30 r2-0008 docker[128190]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Connecting to the default device May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-12-02-48-24-391409-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Listening for topics... May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Recording... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Select device cost 160 ms May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: current time domain: device May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Create align filter May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Depth process is HW D2D May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting LDP to ON May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting laser control to 1 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Available presets: May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Preset 0: Custom May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Preset 1: Default May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Load device preset: Default May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Device preset Default loaded May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: set DecimationFilter to false May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: set HDRMerge to false May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: set TemporalFilter to false May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Enable color stream May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Enable depth stream May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Enable frame sync May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Setting LDP to ON May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Current node pid: 198 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Start device cost 232 ms May 12 04:48:30 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Initialize device cost 62 ms May 12 04:48:30 r2-0008 docker[128190]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 12 04:48:30 r2-0008 docker[128190]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 12 04:48:30 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:30 r2-0008 docker[128190]: core | [hal-4] [INFO]: Starting zuuu_hal! May 12 04:48:30 r2-0008 docker[128190]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 12 04:48:30 r2-0008 docker[128190]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 12 04:48:30 r2-0008 docker[128190]: core | [hal-4] May 12 04:48:30 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:30 r2-0008 docker[128190]: core | [hal-4] [INFO]: zuuu version: 1.2 May 12 04:48:30 r2-0008 docker[128190]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 12 04:48:30 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 12 04:48:30 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 12 04:48:30 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 12 04:48:30 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 12 04:48:30 r2-0008 docker[128190]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 12 04:48:30 r2-0008 docker[128190]: core | [hal-4] [WARN]: Battery voltage OK (25.2V) May 12 04:48:30 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 12 04:48:30 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 12 04:48:30 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 12 04:48:30 r2-0008 docker[128190]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 12 04:48:30 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 12 04:48:30 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:30 r2-0008 docker[128190]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 12 04:48:31 r2-0008 docker[128190]: core | [ros2_control_node-2] [2026-05-12T02:48:31Z ERROR orbita3d_controller::io::poulpe_ethercat] Error: Timeout while connecting to the Orbita3d PoulpeRemoteClient with id 0 May 12 04:48:31 r2-0008 docker[128190]: core | [ros2_control_node-2] [ERROR]: Error loading config file: /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml May 12 04:48:31 r2-0008 docker[128190]: core | [ros2_control_node-2] [WARN]: System hardware component 'neck' from plugin 'orbita3d_system_hwi/Orbita3dSystem' failed to initialize. May 12 04:48:31 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:31 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:31 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:31 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:31 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:32 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:32 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:32 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 12 04:48:32 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:32 r2-0008 docker[128190]: core | [INFO] [reachy_grpc_joint_sdk_server-14]: process started with pid [507] May 12 04:48:32 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:32 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:33 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:33 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] [PID 507] Starting grpc server at 50051 May 12 04:48:33 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:33 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:48:33 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:48:33 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] May 12 04:48:33 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] Validating configuration files... May 12 04:48:33 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 12 04:48:33 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 12 04:48:33 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:33 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:33 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:34 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:34 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:34 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 12 04:48:34 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:34 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:34 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:35 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:35 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:35 r2-0008 docker[128190]: core | [INFO] [launch.user]: May 12 04:48:35 r2-0008 docker[128190]: core | -------------------------------------------------- May 12 04:48:35 r2-0008 docker[128190]: core | Node Watcher Report May 12 04:48:35 r2-0008 docker[128190]: core | Logging to /home/reachy/.ros/log/2026-05-12-02-48-24-391409-r2-0008-107 May 12 04:48:35 r2-0008 docker[128190]: core | Un-monitored nodes[26/26] May 12 04:48:35 r2-0008 docker[128190]: core | Failed[0/0]: [] May 12 04:48:35 r2-0008 docker[128190]: core | Success[0/0]: [] May 12 04:48:35 r2-0008 docker[128190]: core | -------------------------------------------------- May 12 04:48:35 r2-0008 docker[128190]: core | May 12 04:48:35 r2-0008 docker[128190]: 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 12 04:48:35 r2-0008 docker[128190]: core | [INFO] [aplay-15]: process started with pid [570] May 12 04:48:35 r2-0008 docker[128190]: 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 12 04:48:35 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO server] Done! May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO server] New client - update period of 0.002s May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO server] Done! May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO server] New client - update period of 0.002s May 12 04:48:35 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO server] Done! May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO server] New client - update period of 0.002s May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 941.92 Hz May 12 04:48:35 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 12 04:48:35 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:35Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] Done! May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] New client - update period of 0.002s May 12 04:48:36 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] Done! May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] New client - update period of 0.002s May 12 04:48:36 r2-0008 docker[128190]: core | [INFO] [aplay-15]: process has finished cleanly [pid 570] May 12 04:48:36 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] Done! May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] New client - update period of 0.002s May 12 04:48:36 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 12 04:48:36 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] Done! May 12 04:48:36 r2-0008 docker[128190]: core | [ethercat_master_server-1] [2026-05-12T02:48:36Z INFO server] New client - update period of 0.002s May 12 04:48:36 r2-0008 docker[128190]: core | [ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error' May 12 04:48:36 r2-0008 docker[128190]: core | [ros2_control_node-2] what(): Wrong state or command interface configuration. May 12 04:48:36 r2-0008 docker[128190]: core | [ros2_control_node-2] missing state interfaces: May 12 04:48:36 r2-0008 docker[128190]: 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 12 04:48:36 r2-0008 docker[128190]: core | [ros2_control_node-2] missing command interfaces: May 12 04:48:36 r2-0008 docker[128190]: 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 12 04:48:36 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:36 r2-0008 docker[128190]: 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_qp52j4n2 --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. May 12 04:48:36 r2-0008 docker[128190]: core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] May 12 04:48:36 r2-0008 docker[128190]: core | [INFO] [rosbag_snapshot_dump-16]: process started with pid [846] May 12 04:48:36 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:37 r2-0008 docker[128190]: core | [rosbag_snapshot_dump-16] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() May 12 04:48:37 r2-0008 docker[128190]: core | [rosbag_snapshot_dump-16] May 12 04:48:37 r2-0008 docker[128190]: core | [rosbag_snapshot_dump-16] response: May 12 04:48:37 r2-0008 docker[128190]: core | [rosbag_snapshot_dump-16] rosbag2_interfaces.srv.Snapshot_Response(success=True) May 12 04:48:37 r2-0008 docker[128190]: core | [rosbag_snapshot_dump-16] May 12 04:48:37 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:37 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:37 r2-0008 docker[128190]: core | [INFO] [rosbag_snapshot_dump-16]: process has finished cleanly [pid 846] May 12 04:48:37 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:37 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:37 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:38 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:38 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:38 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 12 04:48:38 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:38 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ros2_control_node] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [reachy_grpc_joint_sdk_server-14]: sending signal 'SIGINT' to process[reachy_grpc_joint_sdk_server-14] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [joint_state_broadcaster-7]: sending signal 'SIGINT' to process[joint_state_broadcaster-7] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [ethercat_master_server-1]: sending signal 'SIGINT' to process[ethercat_master_server-1] May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] Traceback (most recent call last): May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_joint_sdk_server')()) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] servicer = ReachyGRPCJointSDKServicer( May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] self.bridge_node = AbstractBridgeNode( May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] self.wait_for_setup() May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] rclpy.spin_once(self) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] executor.spin_once(timeout_sec=timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] self._spin_once_impl(timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] return next(self._cb_iter) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] wait_set.wait(timeout_nsec) May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] KeyboardInterrupt May 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] Traceback (most recent call last): May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] node = DynamicStateRouterNode( May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] self.wait_for_setup() May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] rclpy.spin_once(self) May 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once May 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] executor.spin_once(timeout_sec=timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] return next(self._cb_iter) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) May 12 04:48:40 r2-0008 docker[128190]: core | [dynamic_state_router-12] KeyboardInterrupt May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] Traceback (most recent call last): May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 590, in main May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] joint_state_handler = CentralJointStateHandler(callback_group) May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 44, in __init__ May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] rclpy.spin_once(self, timeout_sec=0.1) May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] executor.spin_once(timeout_sec=timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] self._spin_once_impl(timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] return next(self._cb_iter) May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] wait_set.wait(timeout_nsec) May 12 04:48:40 r2-0008 docker[128190]: core | [goto_server-11] KeyboardInterrupt May 12 04:48:40 r2-0008 docker[128190]: core | [component_container-10] [INFO]: signal_handler(signum=2) May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] self.run() May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] return _common.wait( May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] executor.spin_once() May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt May 12 04:48:40 r2-0008 docker[128190]: core | [component_container-10] [WARN]: Do destroy ~OBCameraNode May 12 04:48:40 r2-0008 docker[128190]: core | [component_container-10] [WARN]: Stop tf thread May 12 04:48:40 r2-0008 docker[128190]: core | [component_container-10] [WARN]: Stop color frame thread May 12 04:48:40 r2-0008 docker[128190]: core | [component_container-10] [INFO]: Color frame thread exit! May 12 04:48:40 r2-0008 docker[128190]: core | [component_container-10] [WARN]: stop streams May 12 04:48:40 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] Traceback (most recent call last): May 12 04:48:40 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in May 12 04:48:40 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] sys.exit(load_entry_point('controller-manager==2.42.0', 'console_scripts', 'spawner')()) May 12 04:48:40 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main May 12 04:48:40 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] if not wait_for_controller_manager( May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] return wait_for_value_or( May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] time.sleep(0.2) May 12 04:48:40 r2-0008 docker[128190]: core | [joint_state_broadcaster-7] KeyboardInterrupt May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] Traceback (most recent call last): May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] rclpy.spin(publisher) May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] executor.spin_once() May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] return next(self._cb_iter) May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) May 12 04:48:40 r2-0008 docker[128190]: core | [fake_gz_interface-5] KeyboardInterrupt May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] **************************************** May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] grpc-server_SDK.50051::python_gc stop: 44.110ms May 12 04:48:40 r2-0008 docker[128190]: core | [reachy_grpc_joint_sdk_server-14] **************************************** May 12 04:48:40 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while May 12 04:48:40 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Event publisher thread: Exiting May 12 04:48:40 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Recording stopped May 12 04:48:40 r2-0008 docker[128190]: 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 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] May 12 04:48:40 r2-0008 docker[128190]: 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_h44ndsr6']. May 12 04:48:40 r2-0008 docker[128190]: core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] May 12 04:48:40 r2-0008 docker[128190]: core | [rosbag-13] [INFO]: Recording stopped May 12 04:48:40 r2-0008 docker[128190]: core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] Traceback (most recent call last): May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] raise RuntimeError(msg) May 12 04:48:40 r2-0008 docker[128190]: core | [hal-4] RuntimeError: Default zuuu_hal shutdown May 12 04:48:40 r2-0008 docker[128190]: core | [rplidar_scan_publisher-3] [INFO]: Stop motor May 12 04:48:41 r2-0008 docker[128190]: 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 12 04:48:41 r2-0008 docker[128190]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested May 12 04:48:41 r2-0008 docker[128190]: 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 12 04:48:41 r2-0008 docker[128190]: core | [INFO] [launch.user]: Critical node failed : [goto_server] May 12 04:48:41 r2-0008 docker[128190]: 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_2yk0sws3']. May 12 04:48:41 r2-0008 docker[128190]: core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] May 12 04:48:41 r2-0008 docker[128190]: 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 12 04:48:41 r2-0008 docker[128190]: core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] May 12 04:48:41 r2-0008 docker[128190]: core | [INFO] [rosbag-13]: process has finished cleanly [pid 204] May 12 04:48:41 r2-0008 docker[128190]: 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 12 04:48:41 r2-0008 docker[128190]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_joint_sdk_server] May 12 04:48:41 r2-0008 docker[128190]: core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 184] May 12 04:48:41 r2-0008 docker[128190]: core | [INFO] [component_container-10]: process has finished cleanly [pid 198] May 12 04:48:42 r2-0008 docker[128190]: core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate '2' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 12 04:48:42 r2-0008 docker[128190]: core | [INFO] [ethercat_master_server-1]: sending signal 'SIGTERM' to process[ethercat_master_server-1] May 12 04:48:42 r2-0008 docker[128190]: 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 12 04:48:42 r2-0008 docker[128190]: core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] May 12 04:48:42 r2-0008 docker[128190]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 12 04:48:45 r2-0008 docker[128190]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 12 04:48:45 r2-0008 docker[128190]: core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] May 12 04:48:45 r2-0008 docker[128190]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): '_io.StringIO' object has no attribute 'info' May 12 04:48:47 r2-0008 systemd[1]: Stopping Reachy2 Core... May 12 04:48:47 r2-0008 docker[129970]: Container core Stopping May 12 04:48:47 r2-0008 docker[129970]: Container core Stopping May 12 04:48:50 r2-0008 docker[128190]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' May 12 04:48:50 r2-0008 docker[128190]: core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] May 12 04:48:50 r2-0008 docker[128190]: 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_u6kz9m1d']. May 12 04:48:50 r2-0008 docker[128190]: 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 12 04:48:50 r2-0008 docker[129970]: Container core Stopped May 12 04:48:50 r2-0008 docker[129970]: Container core Removing May 12 04:48:50 r2-0008 docker[128190]: core exited with code 0 May 12 04:48:50 r2-0008 docker[129970]: Container core Removed May 12 04:48:50 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 12 04:48:50 r2-0008 systemd[1]: Stopped Reachy2 Core. May 12 04:48:55 r2-0008 systemd[1]: Starting Reachy2 Core... May 12 04:48:55 r2-0008 bash[130248]: What a clear sky to launch a [core] container May 12 04:48:55 r2-0008 systemd[1]: Started Reachy2 Core. May 12 04:48:55 r2-0008 docker[130288]: Container core Creating May 12 04:48:55 r2-0008 docker[130288]: Container core Created May 12 04:48:55 r2-0008 docker[130288]: Attaching to core May 12 04:48:56 r2-0008 docker[130288]: core | Input : Rode, Output: Rode May 12 04:48:56 r2-0008 docker[130288]: core | ALSA configuration generated with the following settings: May 12 04:48:56 r2-0008 docker[130288]: core | Sink Card: 1,0 May 12 04:48:56 r2-0008 docker[130288]: core | Source Card: 1,0 May 12 04:48:56 r2-0008 docker[130288]: core | Period Size: 512 May 12 04:48:56 r2-0008 docker[130288]: core | Buffer Size: 2048 May 12 04:48:56 r2-0008 docker[130288]: core | Sound config written to ~/.asoundrc May 12 04:48:56 r2-0008 docker[130288]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-12-02-48-56-808128-r2-0008-107 May 12 04:48:56 r2-0008 docker[130288]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 12 04:48:57 r2-0008 docker[130288]: core | [INFO] [launch.user]: May 12 04:48:57 r2-0008 docker[130288]: core | -------------------------------------------------- May 12 04:48:57 r2-0008 docker[130288]: core | Configuration May 12 04:48:57 r2-0008 docker[130288]: core | -------------------------------------------------- May 12 04:48:57 r2-0008 docker[130288]: core | May 12 04:48:57 r2-0008 docker[130288]: core | [reachy.yaml] configuration override May 12 04:48:57 r2-0008 docker[130288]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:48:57 r2-0008 docker[130288]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:48:57 r2-0008 docker[130288]: core | May 12 04:48:57 r2-0008 docker[130288]: core | Validating configuration files... May 12 04:48:57 r2-0008 docker[130288]: core | Reachy config loaded successfully May 12 04:48:57 r2-0008 docker[130288]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 12 04:48:57 r2-0008 docker[130288]: core | [INFO] [launch.user]: Reachy config : May 12 04:48:57 r2-0008 docker[130288]: core | robot_model full_kit May 12 04:48:57 r2-0008 docker[130288]: core | May 12 04:48:57 r2-0008 docker[130288]: core | [INFO] [launch.user]: Reachy URDF config : May 12 04:48:57 r2-0008 docker[130288]: core | depth_camera true May 12 04:48:57 r2-0008 docker[130288]: core | robot_config full_kit May 12 04:48:57 r2-0008 docker[130288]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 12 04:48:57 r2-0008 docker[130288]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 12 04:48:57 r2-0008 docker[130288]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 12 04:48:57 r2-0008 docker[130288]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 12 04:48:57 r2-0008 docker[130288]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 12 04:48:57 r2-0008 docker[130288]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 12 04:48:57 r2-0008 docker[130288]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 12 04:48:57 r2-0008 docker[130288]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 12 04:48:57 r2-0008 docker[130288]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 12 04:48:57 r2-0008 docker[130288]: core | robot_model "dvt" May 12 04:48:57 r2-0008 docker[130288]: core | May 12 04:48:57 r2-0008 docker[130288]: core | [INFO] [launch.user]: May 12 04:48:57 r2-0008 docker[130288]: core | -------------------------------------------------- May 12 04:48:57 r2-0008 docker[130288]: core | Launching nodes... May 12 04:48:57 r2-0008 docker[130288]: core | -------------------------------------------------- May 12 04:48:57 r2-0008 docker[130288]: core | May 12 04:48:57 r2-0008 docker[130288]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 12 04:48:57 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:57Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO server] POULPE controller ready! May 12 04:48:58 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:48:58Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 12 04:49:01 r2-0008 docker[130288]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 12 04:49:01 r2-0008 docker[130288]: 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 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO server] Done! May 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO server] New client - update period of 0.002s May 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO server] Done! May 12 04:49:01 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO server] New client - update period of 0.002s May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO server] Done! May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:01Z INFO server] New client - update period of 0.002s May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [291] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [281] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [hal-4]: process started with pid [283] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [fake_gz_interface-5]: process started with pid [285] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [robot_state_publisher-6]: process started with pid [287] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [289] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [293] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [component_container-10]: process started with pid [295] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [goto_server-11]: process started with pid [297] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [dynamic_state_router-12]: process started with pid [299] May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [rosbag-13]: process started with pid [301] May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] Done! May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] New client - update period of 0.002s May 12 04:49:02 r2-0008 docker[130288]: 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 12 04:49:02 r2-0008 docker[130288]: 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 12 04:49:02 r2-0008 docker[130288]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 12 04:49:02 r2-0008 docker[130288]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 12 04:49:02 r2-0008 docker[130288]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 12 04:49:02 r2-0008 docker[130288]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 12 04:49:02 r2-0008 docker[130288]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] Done! May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] New client - update period of 0.002s May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] Done! May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] New client - update period of 0.002s May 12 04:49:02 r2-0008 docker[130288]: 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 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] Done! May 12 04:49:02 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:02Z INFO server] New client - update period of 0.002s May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [05/12 02:49:02.467635][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 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [05/12 02:49:02.468749][info][295][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [05/12 02:49:02.469331][info][295][LinuxPal.cpp:32] createObPal: create LinuxPal! May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [05/12 02:49:02.472946][info][295][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [05/12 02:49:02.472986][info][295][DeviceManager.cpp:15] Current found device(s): (1) May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [05/12 02:49:02.472995][info][295][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 12 04:49:02 r2-0008 docker[130288]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Connecting to the default device May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-12-02-48-56-808128-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Listening for topics... May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Recording... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Select device cost 164 ms May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: current time domain: device May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Create align filter May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Depth process is HW D2D May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting LDP to ON May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting laser control to 1 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Available presets: May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Preset 0: Custom May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Preset 1: Default May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Load device preset: Default May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Device preset Default loaded May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: set DecimationFilter to false May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: set HDRMerge to false May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: set TemporalFilter to false May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Enable color stream May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Enable depth stream May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Enable frame sync May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Setting LDP to ON May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Current node pid: 295 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Start device cost 309 ms May 12 04:49:02 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Initialize device cost 134 ms May 12 04:49:02 r2-0008 docker[130288]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 12 04:49:02 r2-0008 docker[130288]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 12 04:49:02 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 12 04:49:02 r2-0008 docker[130288]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:49:03 r2-0008 docker[130288]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 12 04:49:03 r2-0008 docker[130288]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:49:03 r2-0008 docker[130288]: core | [hal-4] [INFO]: Starting zuuu_hal! May 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 12 04:49:03 r2-0008 docker[130288]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 12 04:49:03 r2-0008 docker[130288]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 12 04:49:03 r2-0008 docker[130288]: core | [hal-4] May 12 04:49:03 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Publishing static transform from color to depth May 12 04:49:03 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Translation 14.118, 0.040812, 1.60059 May 12 04:49:03 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Rotation 0.000462881, 0.000723912, 0.00109022, 0.999999 May 12 04:49:03 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Publishing static transform from depth to depth May 12 04:49:03 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Translation 0, 0, 0 May 12 04:49:03 r2-0008 docker[130288]: core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 12 04:49:03 r2-0008 docker[130288]: core | [hal-4] [INFO]: zuuu version: 1.2 May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 12 04:49:03 r2-0008 docker[130288]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 12 04:49:03 r2-0008 docker[130288]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 12 04:49:03 r2-0008 docker[130288]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 12 04:49:03 r2-0008 docker[130288]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 12 04:49:03 r2-0008 docker[130288]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 12 04:49:03 r2-0008 docker[130288]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 12 04:49:03 r2-0008 docker[130288]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 12 04:49:03 r2-0008 docker[130288]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 12 04:49:03 r2-0008 docker[130288]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 12 04:49:03 r2-0008 docker[130288]: core | [hal-4] [WARN]: Battery voltage OK (25.3V) May 12 04:49:03 r2-0008 docker[130288]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: Setup done! May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: 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 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 12 04:49:03 r2-0008 docker[130288]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 289] May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [844] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [forward_torque_controller-14]: process started with pid [816] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [818] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [820] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [forward_pid_controller-17]: process started with pid [822] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [gripper_current_controller-18]: process started with pid [824] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [gripper_mode_controller-19]: process started with pid [826] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [antenna_current_controller-20]: process started with pid [828] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [antenna_mode_controller-21]: process started with pid [830] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [832] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [834] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [836] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [838] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [840] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [842] May 12 04:49:03 r2-0008 docker[130288]: core | [INFO] [rviz2-29]: process started with pid [846] May 12 04:49:03 r2-0008 docker[130288]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 12 04:49:04 r2-0008 docker[130288]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 12 04:49:04 r2-0008 docker[130288]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 12 04:49:04 r2-0008 docker[130288]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 12 04:49:04 r2-0008 docker[130288]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 12 04:49:04 r2-0008 docker[130288]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 12 04:49:04 r2-0008 docker[130288]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 12 04:49:04 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 12 04:49:04 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 12 04:49:04 r2-0008 docker[130288]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 12 04:49:04 r2-0008 docker[130288]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 12 04:49:04 r2-0008 docker[130288]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 12 04:49:04 r2-0008 docker[130288]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 12 04:49:04 r2-0008 docker[130288]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 12 04:49:04 r2-0008 docker[130288]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 12 04:49:04 r2-0008 docker[130288]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 12 04:49:04 r2-0008 docker[130288]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 12 04:49:04 r2-0008 docker[130288]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 12 04:49:04 r2-0008 docker[130288]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 12 04:49:04 r2-0008 docker[130288]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 12 04:49:04 r2-0008 docker[130288]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 12 04:49:04 r2-0008 docker[130288]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 12 04:49:04 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 12 04:49:04 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 12 04:49:04 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 12 04:49:04 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 12 04:49:04 r2-0008 docker[130288]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 12 04:49:04 r2-0008 docker[130288]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 12 04:49:04 r2-0008 docker[130288]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 826] May 12 04:49:04 r2-0008 docker[130288]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 824] May 12 04:49:04 r2-0008 docker[130288]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 822] May 12 04:49:05 r2-0008 docker[130288]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1247] May 12 04:49:05 r2-0008 docker[130288]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 12 04:49:05 r2-0008 docker[130288]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 12 04:49:05 r2-0008 docker[130288]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 12 04:49:05 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 12 04:49:05 r2-0008 docker[130288]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 12 04:49:05 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 12 04:49:05 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 12 04:49:05 r2-0008 docker[130288]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 12 04:49:05 r2-0008 docker[130288]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 12 04:49:05 r2-0008 docker[130288]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 12 04:49:05 r2-0008 docker[130288]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 12 04:49:05 r2-0008 docker[130288]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 830] May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 818] May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 836] May 12 04:49:05 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 820] May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 828] May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 840] May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 816] May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 834] May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 842] May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 832] May 12 04:49:05 r2-0008 docker[130288]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 838] May 12 04:49:05 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 12 04:49:05 r2-0008 docker[130288]: 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 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 12 04:49:05 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] **************************************** May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 36.185ms May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] **************************************** May 12 04:49:05 r2-0008 docker[130288]: 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 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 12 04:49:05 r2-0008 docker[130288]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 12 04:49:05 r2-0008 docker[130288]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 12 04:49:05 r2-0008 docker[130288]: 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 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 12 04:49:05 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 12 04:49:05 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 12 04:49:05 r2-0008 docker[130288]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 12 04:49:05 r2-0008 docker[130288]: core | [goto_server-11] [INFO]: Goto action server head init. May 12 04:49:06 r2-0008 docker[130288]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 12 04:49:06 r2-0008 docker[130288]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 12 04:49:06 r2-0008 docker[130288]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 12 04:49:06 r2-0008 docker[130288]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 12 04:49:06 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [PID 1247] Starting grpc server at 50051 May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 12 04:49:06 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:06Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.07928 req/s May 12 04:49:06 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:06Z INFO server] GRPC EtherCAT Slave 0 | commands sent 335.53 cmd/s, commands dropped 0.60 req/s, command time: 2.98 (max 1336.34) ms May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 12 04:49:06 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:06Z INFO server] GRPC EtherCAT Slave 1 | commands sent 331.80 cmd/s, commands dropped 0.60 req/s, command time: 3.01 (max 1146.55) ms May 12 04:49:06 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:06Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.0684 req/s May 12 04:49:06 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:06Z INFO server] GRPC EtherCAT Slave 2 | commands sent 350.10 cmd/s, commands dropped 0.60 req/s, command time: 2.86 (max 943.64) ms May 12 04:49:06 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:06Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.03357 req/s May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 28.627323150634766, 'motor_velocities': -3.924689008272253e-05, 'torque_limit': 1.0, 'motor_temperature': 29.46710205078125, 'speed_limit': 1.0, 'motor_currents': 5866.458984375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.005943616386502981}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': 0.17414383590221405, 'velocity': 0.0, 'effort': -42.00613021850586, 'axis_sensor': 0.17195582389831543, 'target_position': 0.17414383590221405}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: 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': 31.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 25.823688507080078, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.546844482421875, 'speed_limit': 1.0, 'motor_currents': 10.858858108520508, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': -0.1744840443134308, 'velocity': 0.0, 'effort': -30.491483688354492, 'axis_sensor': -0.16674089431762695, 'target_position': -0.1744840443134308}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': 0.0003159124462399632, 'velocity': -4.203895392974451e-45, 'effort': 131.5303497314453, 'axis_sensor': -0.005528450012207031, 'target_position': 0.0003159124462399632}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_raw_motor_1, id=10, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 75.56999969482422, 'temperature': 31.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 25.847660064697266, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.2066650390625, 'speed_limit': 1.0, 'motor_currents': -27.370744705200195, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.17646169662475586, 'velocity': 3.0828566215145976e-44, 'effort': -5.282645225524902, 'axis_sensor': -0.1831437349319458, 'target_position': 0.17646169662475586}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: 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': 44.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 29.150484085083008, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 37.395050048828125, 'speed_limit': 1.0, 'motor_currents': -1.6305629014968872, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: 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': 37.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 29.806331634521484, 'motor_velocities': 7.536388147855178e-05, 'torque_limit': 1.0, 'motor_temperature': 39.665008544921875, 'speed_limit': 1.0, 'motor_currents': -14147.439453125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.5521027445793152}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 27.515640258789062, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 34.9847412109375, 'speed_limit': 1.0, 'motor_currents': 4.710539817810059, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.016873836517333984, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.016873836517333984}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.17480535805225372, 'velocity': 8.287377568194643e-06, 'effort': -20840.5703125, 'target_position': -0.17480535805225372}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 28.334007263183594, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.679473876953125, 'speed_limit': 1.0, 'motor_currents': 14089.5576171875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0020211536902934313}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 28.27992820739746, 'motor_velocities': -3.32409652172125e-15, 'torque_limit': 1.0, 'motor_temperature': 28.34368896484375, 'speed_limit': 1.0, 'motor_currents': -14213.9560546875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0103365583345294}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': -0.0003789084148593247, 'velocity': -5.714484814234311e-06, 'effort': -95179.6328125, 'target_position': -0.0003789084148593247}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': 0.00015209760749712586, 'velocity': 1.025996698444942e-05, 'effort': -190721.5625, 'target_position': 0.00015209760749712586}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 29.532072067260742, 'motor_velocities': 6.0003705584676936e-05, 'torque_limit': 1.0, 'motor_temperature': 30.73876953125, 'speed_limit': 1.0, 'motor_currents': -7287.5830078125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.5594765543937683}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': -0.00021940784063190222, 'velocity': 2.6624670822171524e-44, 'effort': -21.545616149902344, 'axis_sensor': -0.023425579071044922, 'target_position': -0.00021940784063190222}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 26.96811866760254, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 29.0924072265625, 'speed_limit': 1.0, 'motor_currents': 11.557795524597168, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': -0.00016671637422405183, 'velocity': -3.211835291949683e-06, 'effort': -31013.375, 'target_position': -0.00016671637422405183}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 27.883201599121094, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 32.033416748046875, 'speed_limit': 1.0, 'motor_currents': 14464.513671875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0032269160728901625}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 27.33073616027832, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 29.332489013671875, 'speed_limit': 1.0, 'motor_currents': 41.45037841796875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 29.702171325683594, 'motor_velocities': -3.2920864226275863e-31, 'torque_limit': 1.0, 'motor_temperature': 37.60125732421875, 'speed_limit': 1.0, 'motor_currents': -14324.6201171875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0067278542555868626}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.05829119682312012, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.05829119682312012}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 28.64165496826172, 'motor_velocities': 3.8381949707400054e-05, 'torque_limit': 1.0, 'motor_temperature': 27.65216064453125, 'speed_limit': 1.0, 'motor_currents': -14430.490234375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0034573872108012438}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': -0.0002812677121255547, 'velocity': -2.5046017802524893e-16, 'effort': -52082.21875, 'target_position': -0.0002812677121255547}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': 0.0006931446259841323, 'velocity': -1.933869108379418e-21, 'effort': -14047.837890625, 'target_position': 0.0006931446259841323}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 28.94913673400879, 'motor_velocities': -1.0789998175301091e-43, 'torque_limit': 1.0, 'motor_temperature': 37.373626708984375, 'speed_limit': 1.0, 'motor_currents': 7.402259826660156, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': -0.0004018676117993891, 'velocity': 2.747159458517211e-16, 'effort': -101602.328125, 'target_position': -0.0004018676117993891}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -0.00033767599961720407, 'velocity': -4.203895392974451e-45, 'effort': 3.032787322998047, 'axis_sensor': 0.0006399154663085938, 'target_position': -0.00033767599961720407}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': 7.84271651355084e-06, 'velocity': 0.0, 'effort': 3.113919496536255, 'axis_sensor': -0.0029201507568359375, 'target_position': 7.84271651355084e-06}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': 0.0005094627849757671, 'velocity': -2.989557268406884e-09, 'effort': 29165.29296875, 'target_position': 0.0005094627849757671}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': -0.0005966674070805311, 'velocity': -5.030674856243422e-06, 'effort': 2758.42578125, 'target_position': -0.0005966674070805311}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 27.36176109313965, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 34.6077880859375, 'speed_limit': 1.0, 'motor_currents': 1.7897230386734009, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 27.735376358032227, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 33.0526123046875, 'speed_limit': 1.0, 'motor_currents': 9888.927734375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.0063756308518350124}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.17585372924804688, 'velocity': -1.2611686178923354e-44, 'effort': -8.764456748962402, 'axis_sensor': -0.1820637583732605, 'target_position': -0.17585372924804688}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: 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': 0.016873836517333984, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.016873836517333984}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.05829119682312012, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.05829119682312012})], 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': 0.016873836517333984, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.016873836517333984}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.05829119682312012, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.05829119682312012})}) May 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: 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 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 12 04:49:06 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 12 04:49:06 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 12 04:49:06 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 12 04:49:06 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 12 04:49:06 r2-0008 docker[130288]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 12 04:49:07 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 12 04:49:07 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 12 04:49:07 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [PID 1247] Ready to start May 12 04:49:07 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 12 04:49:07 r2-0008 docker[130288]: core | [reachy_grpc_joint_sdk_server-30] [PID 1247] Server started on port 50051. May 12 04:49:07 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:07Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.12222 req/s May 12 04:49:07 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:07Z INFO server] GRPC EtherCAT Slave 3 | commands sent 389.22 cmd/s, commands dropped 0.60 req/s, command time: 2.57 (max 729.73) ms May 12 04:49:07 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:07Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.11902 req/s May 12 04:49:07 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:07Z INFO server] GRPC EtherCAT Slave 4 | commands sent 378.95 cmd/s, commands dropped 0.80 req/s, command time: 2.64 (max 696.60) ms May 12 04:49:07 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:07Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.11496 req/s May 12 04:49:07 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:07Z INFO server] GRPC EtherCAT Slave 5 | commands sent 392.38 cmd/s, commands dropped 0.40 req/s, command time: 2.55 (max 580.57) ms May 12 04:49:07 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:07Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.18472 req/s May 12 04:49:07 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:07Z INFO server] GRPC EtherCAT Slave 6 | commands sent 427.71 cmd/s, commands dropped 0.80 req/s, command time: 2.34 (max 463.21) ms May 12 04:49:07 r2-0008 docker[130288]: core | [INFO] [launch.user]: May 12 04:49:07 r2-0008 docker[130288]: core | -------------------------------------------------- May 12 04:49:07 r2-0008 docker[130288]: core | Node Watcher Report May 12 04:49:07 r2-0008 docker[130288]: core | Logging to /home/reachy/.ros/log/2026-05-12-02-48-56-808128-r2-0008-107 May 12 04:49:07 r2-0008 docker[130288]: core | Un-monitored nodes[11/26] May 12 04:49:07 r2-0008 docker[130288]: core | Failed[0/15]: [] May 12 04:49:07 r2-0008 docker[130288]: core | Success[15/15]: ['joint_state_broadcaster', 'gripper_mode_controller', 'gripper_current_controller', 'forward_pid_controller', 'antenna_mode_controller', 'forward_torque_limit_controller', 'tripod_forward_position_controller', 'forward_speed_limit_controller', 'antenna_current_controller', 'l_arm_forward_position_controller', 'forward_torque_controller', 'antenna_forward_position_controller', 'gripper_forward_position_controller', 'neck_forward_position_controller', 'r_arm_forward_position_controller'] May 12 04:49:07 r2-0008 docker[130288]: core | -------------------------------------------------- May 12 04:49:07 r2-0008 docker[130288]: core | May 12 04:49:07 r2-0008 docker[130288]: 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 12 04:49:07 r2-0008 docker[130288]: core | [INFO] [aplay-31]: process started with pid [1374] May 12 04:49:07 r2-0008 docker[130288]: 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 12 04:49:08 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:08Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 917.21 Hz May 12 04:49:08 r2-0008 docker[130288]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1374] May 12 04:49:09 r2-0008 systemd[1]: Stopping Reachy2 Core... May 12 04:49:09 r2-0008 docker[132198]: Container core Stopping May 12 04:49:09 r2-0008 docker[132198]: Container core Stopping May 12 04:49:18 r2-0008 docker[130288]: core | [ethercat_master_server-1] [2026-05-12T02:49:18Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 926.61 Hz May 12 04:49:19 r2-0008 docker[132198]: Container core Stopped May 12 04:49:19 r2-0008 docker[132198]: Container core Removing May 12 04:49:19 r2-0008 docker[130288]: core exited with code 0 May 12 04:49:19 r2-0008 docker[132198]: Container core Removed May 12 04:49:19 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 12 04:49:19 r2-0008 systemd[1]: Stopped Reachy2 Core. May 12 04:49:19 r2-0008 systemd[1]: Starting Reachy2 Core... May 12 04:49:19 r2-0008 bash[132926]: What a clear sky to launch a [core] container May 12 04:49:19 r2-0008 systemd[1]: Started Reachy2 Core. May 12 04:49:19 r2-0008 docker[132985]: Container core Creating May 12 04:49:19 r2-0008 docker[132985]: Container core Created May 12 04:49:19 r2-0008 docker[132985]: Attaching to core May 12 04:49:20 r2-0008 docker[132985]: core | Input : Rode, Output: Rode May 12 04:49:20 r2-0008 docker[132985]: core | ALSA configuration generated with the following settings: May 12 04:49:20 r2-0008 docker[132985]: core | Sink Card: 1,0 May 12 04:49:20 r2-0008 docker[132985]: core | Source Card: 1,0 May 12 04:49:20 r2-0008 docker[132985]: core | Period Size: 512 May 12 04:49:20 r2-0008 docker[132985]: core | Buffer Size: 2048 May 12 04:49:20 r2-0008 docker[132985]: core | Sound config written to ~/.asoundrc May 12 04:49:20 r2-0008 docker[132985]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-12-02-49-20-536579-r2-0008-107 May 12 04:49:20 r2-0008 docker[132985]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 12 04:49:21 r2-0008 docker[132985]: core | No logs&bags to clear May 12 04:49:21 r2-0008 docker[132985]: core | [INFO] [launch.user]: May 12 04:49:21 r2-0008 docker[132985]: core | -------------------------------------------------- May 12 04:49:21 r2-0008 docker[132985]: core | Configuration May 12 04:49:21 r2-0008 docker[132985]: core | -------------------------------------------------- May 12 04:49:21 r2-0008 docker[132985]: core | May 12 04:49:21 r2-0008 docker[132985]: core | [reachy.yaml] configuration override May 12 04:49:21 r2-0008 docker[132985]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:49:21 r2-0008 docker[132985]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:49:21 r2-0008 docker[132985]: core | May 12 04:49:21 r2-0008 docker[132985]: core | Validating configuration files... May 12 04:49:21 r2-0008 docker[132985]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 12 04:49:21 r2-0008 docker[132985]: core | Reachy config loaded successfully May 12 04:49:21 r2-0008 docker[132985]: core | [INFO] [launch.user]: Reachy config : May 12 04:49:21 r2-0008 docker[132985]: core | robot_model full_kit May 12 04:49:21 r2-0008 docker[132985]: core | May 12 04:49:21 r2-0008 docker[132985]: core | [INFO] [launch.user]: Reachy URDF config : May 12 04:49:21 r2-0008 docker[132985]: core | depth_camera true May 12 04:49:21 r2-0008 docker[132985]: core | robot_config full_kit May 12 04:49:21 r2-0008 docker[132985]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 12 04:49:21 r2-0008 docker[132985]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 12 04:49:21 r2-0008 docker[132985]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 12 04:49:21 r2-0008 docker[132985]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 12 04:49:21 r2-0008 docker[132985]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 12 04:49:21 r2-0008 docker[132985]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 12 04:49:21 r2-0008 docker[132985]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 12 04:49:21 r2-0008 docker[132985]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 12 04:49:21 r2-0008 docker[132985]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 12 04:49:21 r2-0008 docker[132985]: core | robot_model "dvt" May 12 04:49:21 r2-0008 docker[132985]: core | May 12 04:49:21 r2-0008 docker[132985]: core | [INFO] [launch.user]: May 12 04:49:21 r2-0008 docker[132985]: core | -------------------------------------------------- May 12 04:49:21 r2-0008 docker[132985]: core | Launching nodes... May 12 04:49:21 r2-0008 docker[132985]: core | -------------------------------------------------- May 12 04:49:21 r2-0008 docker[132985]: core | May 12 04:49:21 r2-0008 docker[132985]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 12 04:49:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:21Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:49:22 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:22Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 12 04:49:22 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:22Z INFO server] POULPE controller ready! May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 12 04:49:25 r2-0008 docker[132985]: 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 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Done! May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] New client - update period of 0.002s May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Done! May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] New client - update period of 0.002s May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Done! May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] New client - update period of 0.002s May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [291] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [281] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [hal-4]: process started with pid [283] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [fake_gz_interface-5]: process started with pid [285] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [robot_state_publisher-6]: process started with pid [287] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [289] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [293] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [component_container-10]: process started with pid [295] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [goto_server-11]: process started with pid [297] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [dynamic_state_router-12]: process started with pid [299] May 12 04:49:25 r2-0008 docker[132985]: core | [INFO] [rosbag-13]: process started with pid [301] May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 12 04:49:25 r2-0008 docker[132985]: 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 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Done! May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] New client - update period of 0.002s May 12 04:49:25 r2-0008 docker[132985]: 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 12 04:49:25 r2-0008 docker[132985]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 12 04:49:25 r2-0008 docker[132985]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 12 04:49:25 r2-0008 docker[132985]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] Done! May 12 04:49:25 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:25Z INFO server] New client - update period of 0.002s May 12 04:49:25 r2-0008 docker[132985]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 12 04:49:25 r2-0008 docker[132985]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 12 04:49:25 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 12 04:49:26 r2-0008 docker[132985]: 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 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO server] Done! May 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO server] New client - update period of 0.002s May 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO server] Done! May 12 04:49:26 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:26Z INFO server] New client - update period of 0.002s May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [05/12 02:49:26.197271][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 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [05/12 02:49:26.197293][info][295][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [05/12 02:49:26.197318][info][295][LinuxPal.cpp:32] createObPal: create LinuxPal! May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [05/12 02:49:26.204673][info][295][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [05/12 02:49:26.205289][info][295][DeviceManager.cpp:15] Current found device(s): (1) May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [05/12 02:49:26.205774][info][295][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 12 04:49:26 r2-0008 docker[132985]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Connecting to the default device May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-12-02-49-20-536579-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Listening for topics... May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Recording... May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Select device cost 164 ms May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: current time domain: device May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Create align filter May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Depth process is HW D2D May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting LDP to ON May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting laser control to 1 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Available presets: May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Preset 0: Custom May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Preset 1: Default May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Load device preset: Default May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Device preset Default loaded May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: set DecimationFilter to false May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: set HDRMerge to false May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: set TemporalFilter to false May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Enable color stream May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Enable depth stream May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Enable frame sync May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Setting LDP to ON May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Current node pid: 295 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Start device cost 247 ms May 12 04:49:26 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Initialize device cost 72 ms May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 12 04:49:26 r2-0008 docker[132985]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 12 04:49:26 r2-0008 docker[132985]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 12 04:49:26 r2-0008 docker[132985]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:49:26 r2-0008 docker[132985]: core | [hal-4] [INFO]: Starting zuuu_hal! May 12 04:49:26 r2-0008 docker[132985]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 12 04:49:26 r2-0008 docker[132985]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 12 04:49:26 r2-0008 docker[132985]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 12 04:49:26 r2-0008 docker[132985]: core | [hal-4] May 12 04:49:26 r2-0008 docker[132985]: 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 12 04:49:26 r2-0008 docker[132985]: 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 12 04:49:26 r2-0008 docker[132985]: 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 12 04:49:26 r2-0008 docker[132985]: 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 12 04:49:26 r2-0008 docker[132985]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 12 04:49:26 r2-0008 docker[132985]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:49:26 r2-0008 docker[132985]: 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 12 04:49:26 r2-0008 docker[132985]: 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 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 12 04:49:26 r2-0008 docker[132985]: core | [hal-4] [INFO]: zuuu version: 1.2 May 12 04:49:26 r2-0008 docker[132985]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 12 04:49:26 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 12 04:49:26 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 12 04:49:26 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 12 04:49:26 r2-0008 docker[132985]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 12 04:49:26 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 12 04:49:26 r2-0008 docker[132985]: core | [hal-4] [WARN]: Battery voltage OK (25.2V) May 12 04:49:26 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 12 04:49:26 r2-0008 docker[132985]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 12 04:49:26 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 12 04:49:26 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 12 04:49:26 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: Setup done! May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 12 04:49:27 r2-0008 docker[132985]: 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 12 04:49:27 r2-0008 docker[132985]: 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 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 12 04:49:27 r2-0008 docker[132985]: 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 12 04:49:27 r2-0008 docker[132985]: 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 12 04:49:27 r2-0008 docker[132985]: 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 12 04:49:27 r2-0008 docker[132985]: 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 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 12 04:49:27 r2-0008 docker[132985]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 289] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [828] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [forward_torque_controller-14]: process started with pid [800] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [802] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [804] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [forward_pid_controller-17]: process started with pid [806] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [gripper_current_controller-18]: process started with pid [808] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [gripper_mode_controller-19]: process started with pid [810] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [antenna_current_controller-20]: process started with pid [812] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [antenna_mode_controller-21]: process started with pid [814] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [816] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [818] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [820] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [822] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [824] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [826] May 12 04:49:27 r2-0008 docker[132985]: core | [INFO] [rviz2-29]: process started with pid [830] May 12 04:49:27 r2-0008 docker[132985]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 12 04:49:27 r2-0008 docker[132985]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 12 04:49:27 r2-0008 docker[132985]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 12 04:49:28 r2-0008 docker[132985]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 12 04:49:28 r2-0008 docker[132985]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 12 04:49:28 r2-0008 docker[132985]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 12 04:49:28 r2-0008 docker[132985]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 12 04:49:28 r2-0008 docker[132985]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 12 04:49:28 r2-0008 docker[132985]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 12 04:49:28 r2-0008 docker[132985]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 12 04:49:28 r2-0008 docker[132985]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 12 04:49:28 r2-0008 docker[132985]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 12 04:49:28 r2-0008 docker[132985]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 12 04:49:28 r2-0008 docker[132985]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 12 04:49:28 r2-0008 docker[132985]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 12 04:49:28 r2-0008 docker[132985]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 12 04:49:28 r2-0008 docker[132985]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 12 04:49:28 r2-0008 docker[132985]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 12 04:49:28 r2-0008 docker[132985]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 12 04:49:28 r2-0008 docker[132985]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 12 04:49:28 r2-0008 docker[132985]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 818] May 12 04:49:28 r2-0008 docker[132985]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 12 04:49:28 r2-0008 docker[132985]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 12 04:49:28 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 800] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1246] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 826] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 806] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 804] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 820] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 814] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 824] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 808] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 812] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 816] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 802] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 810] May 12 04:49:28 r2-0008 docker[132985]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 822] May 12 04:49:28 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 12 04:49:28 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 12 04:49:29 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 12 04:49:29 r2-0008 docker[132985]: 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 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] **************************************** May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 54.965ms May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] **************************************** May 12 04:49:29 r2-0008 docker[132985]: 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 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 12 04:49:29 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 12 04:49:29 r2-0008 docker[132985]: 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 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 12 04:49:29 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 12 04:49:29 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 12 04:49:29 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 12 04:49:29 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 12 04:49:29 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Goto action server head init. May 12 04:49:29 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 12 04:49:29 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 12 04:49:29 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 12 04:49:29 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 12 04:49:29 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 12 04:49:29 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 12 04:49:29 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [PID 1246] Starting grpc server at 50051 May 12 04:49:29 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:49:29 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:49:29 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] May 12 04:49:29 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 12 04:49:29 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 0 | commands sent 326.77 cmd/s, commands dropped 0.20 req/s, command time: 3.06 (max 1421.83) ms May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.01364 req/s May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 28.345422744750977, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 29.325439453125, 'speed_limit': 1.0, 'motor_currents': 5781.173828125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.005943616386502981}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': 0.17414383590221405, 'velocity': 0.0, 'effort': -37.69858169555664, 'axis_sensor': 0.17195582389831543, 'target_position': 0.17414383590221405}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: 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': 31.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 25.48370933532715, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.57958984375, 'speed_limit': 1.0, 'motor_currents': 9.67543888092041, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': -0.1744840443134308, 'velocity': 0.0, 'effort': -31.556921005249023, 'axis_sensor': -0.16674089431762695, 'target_position': -0.1744840443134308}) May 12 04:49:30 r2-0008 docker[132985]: 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': -0.002689999993890524, 'target_position': 2.2687575817108154}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': 0.0003159124462399632, 'velocity': -4.203895392974451e-45, 'effort': 129.62684631347656, 'axis_sensor': -0.004761695861816406, 'target_position': 0.0003159124462399632}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_raw_motor_1, id=10, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 75.56999969482422, 'temperature': 31.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 25.45448875427246, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.139739990234375, 'speed_limit': 1.0, 'motor_currents': -25.915557861328125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.17646169662475586, 'velocity': 3.0828566215145976e-44, 'effort': -4.885335922241211, 'axis_sensor': -0.18429434299468994, 'target_position': 0.17646169662475586}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: 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': 44.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 28.84822654724121, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 37.52740478515625, 'speed_limit': 1.0, 'motor_currents': -0.12953536212444305, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: 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': 37.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 29.527210235595703, 'motor_velocities': -0.00018870733038056642, 'torque_limit': 1.0, 'motor_temperature': 39.731842041015625, 'speed_limit': 1.0, 'motor_currents': -14149.650390625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.5524861216545105}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 27.205354690551758, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 35.059326171875, 'speed_limit': 1.0, 'motor_currents': 3.9716601371765137, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.016873836517333984, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.016873836517333984}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.17480535805225372, 'velocity': -4.613578494172543e-05, 'effort': -20854.4375, 'target_position': -0.17480535805225372}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 28.05191421508789, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.6246337890625, 'speed_limit': 1.0, 'motor_currents': 14091.6611328125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.002788543701171875}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 27.990917205810547, 'motor_velocities': 6.56559398862222e-12, 'torque_limit': 1.0, 'motor_temperature': 28.50555419921875, 'speed_limit': 1.0, 'motor_currents': -14217.2314453125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.009569168090820312}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': -0.0003789084148593247, 'velocity': 2.5707240638439544e-06, 'effort': -95203.296875, 'target_position': -0.0003835927345789969}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': 0.00015209760749712586, 'velocity': 1.2833498658437748e-05, 'effort': -190725.359375, 'target_position': 0.00015209760749712586}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 29.271142959594727, 'motor_velocities': 9.441475413041189e-05, 'torque_limit': 1.0, 'motor_temperature': 30.65594482421875, 'speed_limit': 1.0, 'motor_currents': -7286.13818359375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.5594765543937683}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': -0.00021940784063190222, 'velocity': 2.6624670822171524e-44, 'effort': -19.079608917236328, 'axis_sensor': -0.023425579071044922, 'target_position': -0.00021940784063190222}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 26.661943435668945, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 29.14300537109375, 'speed_limit': 1.0, 'motor_currents': 11.590744018554688, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': -0.00016671637422405183, 'velocity': 1.0245035809930414e-05, 'effort': -31016.033203125, 'target_position': -0.0001701199944363907}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 27.614606857299805, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 31.94207763671875, 'speed_limit': 1.0, 'motor_currents': 14467.8896484375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.003993988037109375}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 27.006505966186523, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 29.2916259765625, 'speed_limit': 1.0, 'motor_currents': 41.856468200683594, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 29.48249053955078, 'motor_velocities': 1.1839023591063746e-27, 'torque_limit': 1.0, 'motor_temperature': 37.662567138671875, 'speed_limit': 1.0, 'motor_currents': -14324.4697265625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0067278542555868626}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.05829119682312012, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.05829119682312012}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 28.375810623168945, 'motor_velocities': -0.00011843945685541257, 'torque_limit': 1.0, 'motor_temperature': 27.54498291015625, 'speed_limit': 1.0, 'motor_currents': -14434.6982421875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.004607995506376028}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': -0.0002812677121255547, 'velocity': -4.2542680397375174e-14, 'effort': -52064.125, 'target_position': -0.0002812677121255547}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': 0.0006931446259841323, 'velocity': -3.9402267680232427e-19, 'effort': -14045.45703125, 'target_position': 0.0006931446259841323}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 28.669681549072266, 'motor_velocities': -1.0789998175301091e-43, 'torque_limit': 1.0, 'motor_temperature': 37.427215576171875, 'speed_limit': 1.0, 'motor_currents': 6.633285999298096, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': -0.0004018676117993891, 'velocity': 1.2807946231916702e-14, 'effort': -101613.0546875, 'target_position': -0.0004018676117993891}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -0.00033767599961720407, 'velocity': -4.203895392974451e-45, 'effort': 3.5039875507354736, 'axis_sensor': 0.0010232925415039062, 'target_position': -0.00033767599961720407}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': 7.84271651355084e-06, 'velocity': 0.0, 'effort': 5.997840404510498, 'axis_sensor': -0.0029442310333251953, 'target_position': 7.84271651355084e-06}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': 0.0005094627849757671, 'velocity': -5.08014130762291e-10, 'effort': 29179.060546875, 'target_position': 0.0005013475893065333}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': -0.0005966674070805311, 'velocity': -2.074405983876204e-06, 'effort': 2781.529052734375, 'target_position': -0.0005966674070805311}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 27.035253524780273, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 34.711395263671875, 'speed_limit': 1.0, 'motor_currents': 3.9178566932678223, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:49:30 r2-0008 docker[132985]: 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': 0.002689999993890524, 'target_position': 2.2687575817108154}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 27.47811508178711, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 32.97723388671875, 'speed_limit': 1.0, 'motor_currents': 9888.9013671875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.005225181579589844}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.17585372924804688, 'velocity': -1.2611686178923354e-44, 'effort': -9.207869529724121, 'axis_sensor': -0.18398112058639526, 'target_position': -0.17585372924804688}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: 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': 0.016873836517333984, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.016873836517333984}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.05829119682312012, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.05829119682312012})], 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': 0.016873836517333984, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.016873836517333984}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.05829119682312012, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.05829119682312012})}) May 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: 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 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [PID 1246] Ready to start May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 12 04:49:30 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [PID 1246] Server started on port 50051. May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.1154 req/s May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 1 | commands sent 326.96 cmd/s, commands dropped 1.00 req/s, command time: 3.06 (max 1231.60) ms May 12 04:49:30 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 12 04:49:30 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 12 04:49:30 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 12 04:49:30 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.13013 req/s May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 2 | commands sent 349.77 cmd/s, commands dropped 0.40 req/s, command time: 2.86 (max 1029.11) ms May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.0685 req/s May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 3 | commands sent 384.23 cmd/s, commands dropped 0.20 req/s, command time: 2.60 (max 823.74) ms May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.06662 req/s May 12 04:49:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:30Z INFO server] GRPC EtherCAT Slave 4 | commands sent 383.54 cmd/s, commands dropped 0.40 req/s, command time: 2.61 (max 710.97) ms May 12 04:49:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:31Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.11807 req/s May 12 04:49:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:31Z INFO server] GRPC EtherCAT Slave 5 | commands sent 395.62 cmd/s, commands dropped 1.00 req/s, command time: 2.53 (max 592.66) ms May 12 04:49:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:31Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.09857 req/s May 12 04:49:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:31Z INFO server] GRPC EtherCAT Slave 6 | commands sent 423.09 cmd/s, commands dropped 0.20 req/s, command time: 2.36 (max 468.86) ms May 12 04:49:31 r2-0008 docker[132985]: core | [INFO] [launch.user]: May 12 04:49:31 r2-0008 docker[132985]: core | -------------------------------------------------- May 12 04:49:31 r2-0008 docker[132985]: core | Node Watcher Report May 12 04:49:31 r2-0008 docker[132985]: core | Logging to /home/reachy/.ros/log/2026-05-12-02-49-20-536579-r2-0008-107 May 12 04:49:31 r2-0008 docker[132985]: core | Un-monitored nodes[11/26] May 12 04:49:31 r2-0008 docker[132985]: core | Failed[0/15]: [] May 12 04:49:31 r2-0008 docker[132985]: core | Success[15/15]: ['joint_state_broadcaster', 'antenna_forward_position_controller', 'forward_torque_controller', 'gripper_forward_position_controller', 'forward_pid_controller', 'forward_speed_limit_controller', 'tripod_forward_position_controller', 'antenna_mode_controller', 'l_arm_forward_position_controller', 'gripper_current_controller', 'antenna_current_controller', 'neck_forward_position_controller', 'forward_torque_limit_controller', 'gripper_mode_controller', 'r_arm_forward_position_controller'] May 12 04:49:31 r2-0008 docker[132985]: core | -------------------------------------------------- May 12 04:49:31 r2-0008 docker[132985]: core | May 12 04:49:31 r2-0008 docker[132985]: 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 12 04:49:31 r2-0008 docker[132985]: core | [INFO] [aplay-31]: process started with pid [1354] May 12 04:49:31 r2-0008 docker[132985]: 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 12 04:49:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:31Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 929.69 Hz May 12 04:49:31 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 12 04:49:31 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 12 04:49:31 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 12 04:49:32 r2-0008 docker[132985]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1354] May 12 04:49:34 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Executing goal... May 12 04:49:34 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Executing goal... May 12 04:49:34 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Executing goal... May 12 04:49:34 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Executing goal... May 12 04:49:34 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: Executing goal... May 12 04:49:37 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: goto finished May 12 04:49:37 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: goto finished May 12 04:49:37 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: goto finished May 12 04:49:37 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: goto finished May 12 04:49:37 r2-0008 docker[132985]: core | [goto_server-11] [INFO]: goto finished May 12 04:49:41 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:41Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 939.38 Hz May 12 04:49:51 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:49:51Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 935.68 Hz May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 0 | commands sent 505.83 cmd/s, commands dropped 1.17 req/s, command time: 1.98 (max 16.89) ms May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 0 | states sent 499.99826 req/s May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 1 | commands sent 490.32 cmd/s, commands dropped 1.17 req/s, command time: 2.04 (max 17.67) ms May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99728 req/s May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99652 req/s May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 2 | commands sent 491.30 cmd/s, commands dropped 1.20 req/s, command time: 2.04 (max 17.01) ms May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.00284 req/s May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 3 | commands sent 502.27 cmd/s, commands dropped 0.87 req/s, command time: 1.99 (max 16.81) ms May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.00842 req/s May 12 04:50:00 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:00Z INFO server] GRPC EtherCAT Slave 4 | commands sent 490.57 cmd/s, commands dropped 1.20 req/s, command time: 2.04 (max 16.91) ms May 12 04:50:01 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:01Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.87164 req/s May 12 04:50:01 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:01Z INFO server] GRPC EtherCAT Slave 5 | commands sent 489.16 cmd/s, commands dropped 1.10 req/s, command time: 2.04 (max 16.96) ms May 12 04:50:01 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:01Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99677 req/s May 12 04:50:01 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:01Z INFO server] GRPC EtherCAT Slave 6 | commands sent 500.53 cmd/s, commands dropped 1.07 req/s, command time: 2.00 (max 16.99) ms May 12 04:50:01 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:01Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 930.78 Hz May 12 04:50:11 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:11Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 937.62 Hz May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [INFO]: Requested mode change to :'CMD_VEL' May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [INFO]: OK May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:16 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:17 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:18 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:19 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:20 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:21Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 938.34 Hz May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:21 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:22 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:23 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:24 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:25 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [WARN]: Battery voltage OK (25.1V) May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:26 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:27 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:28 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:29 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 0 | commands sent 506.30 cmd/s, commands dropped 0.83 req/s, command time: 1.98 (max 18.45) ms May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.00446 req/s May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 1 | commands sent 491.72 cmd/s, commands dropped 1.03 req/s, command time: 2.03 (max 19.15) ms May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.98837 req/s May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99692 req/s May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 2 | commands sent 491.23 cmd/s, commands dropped 1.07 req/s, command time: 2.04 (max 17.74) ms May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.00082 req/s May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 3 | commands sent 502.23 cmd/s, commands dropped 0.63 req/s, command time: 1.99 (max 18.82) ms May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.99377 req/s May 12 04:50:30 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:30Z INFO server] GRPC EtherCAT Slave 4 | commands sent 491.63 cmd/s, commands dropped 1.23 req/s, command time: 2.03 (max 17.92) ms May 12 04:50:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:31Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.12112 req/s May 12 04:50:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:31Z INFO server] GRPC EtherCAT Slave 5 | commands sent 490.53 cmd/s, commands dropped 0.97 req/s, command time: 2.04 (max 17.17) ms May 12 04:50:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:31Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99008 req/s May 12 04:50:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:31Z INFO server] GRPC EtherCAT Slave 6 | commands sent 500.00 cmd/s, commands dropped 0.97 req/s, command time: 2.00 (max 16.96) ms May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:31Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 931.56 Hz May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:31 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:32 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:34 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:36 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:37 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:38 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:39 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:41Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 936.08 Hz May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:41 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:42 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:44 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:46 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Not all slaves are connected! Expected: 7, Responding: 1 May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(0), name: "NeckOrbita3d" May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(1), name: "RightShoulderOrbita2d" May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(2), name: "RightElbowOrbita2d" May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(3), name: "RightWristOrbita3d" May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(4), name: "LeftShoulderOrbita2d" May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(5), name: "LeftElbowOrbita2d" May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Failed to get slave info for slave SlavePos(6), name: "LeftWristOrbita3d" May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z WARN ethercat_controller::ethercat_controller] Master cannot go to operational! May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Not all slaves are connected! Expected: 7, Responding: 1 May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z INFO ethercat_controller::ethercat_controller] Connected slaves: May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Slave 0 not connected! May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Slave 1 not connected! May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Slave 2 not connected! May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Slave 3 not connected! May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Slave 4 not connected! May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Slave 5 not connected! May 12 04:50:47 r2-0008 docker[132985]: core | [ethercat_master_server-1] [2026-05-12T02:50:47Z ERROR ethercat_controller::ethercat_controller] Slave 6 not connected! May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (584) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (515) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (320) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (251) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (192) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (435) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] thread 'tokio-runtime-worker' (152) panicked at /home/reachy/.cargo/git/checkouts/poulpe_ethercat_controller-3e888862330b1533/923c3b9/poulpe_ethercat_grpc/src/client.rs:210:81: May 12 04:50:47 r2-0008 docker[132985]: core | [ros2_control_node-2] called `Result::unwrap()` on an `Err` value: Status { code: Unknown, message: "h2 protocol error: error reading a body from connection: connection reset", source: Some(hyper::Error(Body, Error { kind: Io(Kind(ConnectionReset)) })) } May 12 04:50:47 r2-0008 docker[132985]: core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code 10, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. May 12 04:50:47 r2-0008 docker[132985]: core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] May 12 04:50:47 r2-0008 docker[132985]: core | [INFO] [rosbag_snapshot_dump-32]: process started with pid [1376] May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:47 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-32] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() May 12 04:50:48 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-32] May 12 04:50:48 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-32] response: May 12 04:50:48 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-32] rosbag2_interfaces.srv.Snapshot_Response(success=True) May 12 04:50:48 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-32] May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [INFO] [rosbag_snapshot_dump-32]: process has finished cleanly [pid 1376] May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [ros2_control_node-2] [2026-05-12T02:50:48Z ERROR poulpe_ethercat_grpc::client] State is older than 1s for slave 6, server maybe down! May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [ERROR] [ros2_control_node-2]: process has died [pid 130, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_ru5e9373 --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. May 12 04:50:48 r2-0008 docker[132985]: core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:48 r2-0008 docker[132985]: core | [INFO] [rosbag_snapshot_dump-33]: process started with pid [1402] May 12 04:50:48 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-33] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() May 12 04:50:49 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-33] May 12 04:50:49 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-33] response: May 12 04:50:49 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-33] rosbag2_interfaces.srv.Snapshot_Response(success=True) May 12 04:50:49 r2-0008 docker[132985]: core | [rosbag_snapshot_dump-33] May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [INFO] [rosbag_snapshot_dump-33]: process has finished cleanly [pid 1402] May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:49 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: sending signal 'SIGINT' to process[reachy_grpc_joint_sdk_server-30] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [rviz2-29]: sending signal 'SIGINT' to process[rviz2-29] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [pollen_kdl_kinematics-28]: sending signal 'SIGINT' to process[pollen_kdl_kinematics-28] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] May 12 04:50:51 r2-0008 docker[132985]: core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 291, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Exception in thread Thread-2 (spin_asyncio): May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Traceback (most recent call last): May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Traceback (most recent call last): May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server", line 33, in May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_joint_sdk_server')()) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] self.run() May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/joint_server.py", line 215, in main_singleprocess May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 953, in run May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] self._target(*self._args, **self._kwargs) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/joint_server.py", line 102, in spin_asyncio May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] server.wait_for_termination() May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] self.asyncio_loop.run_until_complete(self.spinning(self.bridge_node)) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/asyncio/base_events.py", line 649, in run_until_complete May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] return _common.wait( May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] return future.result() May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/joint_server.py", line 115, in spinning May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] rclpy.spin_once(node, timeout_sec=0.01) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] wait_fn(timeout=timeout) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 607, in wait May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] signaled = self._cond.wait(timeout) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 324, in wait May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] executor.spin_once(timeout_sec=timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] gotit = waiter.acquire(True, timeout) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] KeyboardInterrupt May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] self._spin_once_impl(timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] return next(self._cb_iter) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 584, in _wait_for_ready_callbacks May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] wait_set = _rclpy.WaitSet( May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] rclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 May 12 04:50:51 r2-0008 docker[132985]: core | [rviz2-29] [INFO]: signal_handler(signum=2) May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] Traceback (most recent call last): May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] File "/home/reachy/reachy_ws/install/pollen_kdl_kinematics/lib/pollen_kdl_kinematics/pollen_kdl_kinematics", line 33, in May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] sys.exit(load_entry_point('pollen-kdl-kinematics', 'console_scripts', 'pollen_kdl_kinematics')()) May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] File "/home/reachy/reachy_ws/build/pollen_kdl_kinematics/pollen_kdl_kinematics/pollen_kdl_kinematics_node.py", line 827, in main May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] rclpy.spin(node) May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] executor.spin_once() May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] self._spin_once_impl(timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] return next(self._cb_iter) May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] wait_set.wait(timeout_nsec) May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] KeyboardInterrupt May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] Traceback (most recent call last): May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) May 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 401, in main May 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] rclpy.spin(node) May 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] executor.spin_once() May 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] return next(self._cb_iter) May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) May 12 04:50:51 r2-0008 docker[132985]: core | [dynamic_state_router-12] KeyboardInterrupt May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Client left stream!! Version with time.sleep() May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 May 12 04:50:51 r2-0008 docker[132985]: core | [component_container-10] [INFO]: signal_handler(signum=2) May 12 04:50:51 r2-0008 docker[132985]: core | [goto_server-11] Exception in thread Thread-1 (publish_commands): May 12 04:50:51 r2-0008 docker[132985]: core | [goto_server-11] Traceback (most recent call last): May 12 04:50:51 r2-0008 docker[132985]: core | [goto_server-11] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 12 04:50:51 r2-0008 docker[132985]: core | [goto_server-11] self.run() May 12 04:50:51 r2-0008 docker[132985]: core | [goto_server-11] File "/usr/lib/python3.10/threading.py", line 953, in run May 12 04:50:51 r2-0008 docker[132985]: core | [goto_server-11] self._target(*self._args, **self._kwargs) May 12 04:50:51 r2-0008 docker[132985]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 108, in publish_commands May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] self.run() May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] return _common.wait( May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] executor.spin_once() May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] return next(self._cb_iter) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 612, in _wait_for_ready_callbacks May 12 04:50:51 r2-0008 docker[132985]: core | [component_container-10] [WARN]: Do destroy ~OBCameraNode May 12 04:50:51 r2-0008 docker[132985]: core | [component_container-10] [WARN]: Stop tf thread May 12 04:50:51 r2-0008 docker[132985]: core | [component_container-10] [WARN]: Stop color frame thread May 12 04:50:51 r2-0008 docker[132985]: core | [component_container-10] [INFO]: Color frame thread exit! May 12 04:50:51 r2-0008 docker[132985]: core | [component_container-10] [WARN]: stop streams May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] raise ExternalShutdownException() May 12 04:50:51 r2-0008 docker[132985]: core | [reachy_grpc_video_sdk_server-9] rclpy.executors.ExternalShutdownException May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] **************************************** May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 37.252ms May 12 04:50:51 r2-0008 docker[132985]: core | [pollen_kdl_kinematics-28] **************************************** May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] Traceback (most recent call last): May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] rclpy.spin(publisher) May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] executor.spin_once() May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] return next(self._cb_iter) May 12 04:50:51 r2-0008 docker[132985]: 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 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) May 12 04:50:51 r2-0008 docker[132985]: core | [fake_gz_interface-5] KeyboardInterrupt May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 May 12 04:50:51 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while May 12 04:50:51 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Event publisher thread: Exiting May 12 04:50:51 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Recording stopped May 12 04:50:51 r2-0008 docker[132985]: core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE May 12 04:50:51 r2-0008 docker[132985]: core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 293, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] May 12 04:50:51 r2-0008 docker[132985]: core | [ERROR] [robot_state_publisher-6]: process has died [pid 287, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_rq7c_ai6']. May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] May 12 04:50:51 r2-0008 docker[132985]: core | [ERROR] [dynamic_state_router-12]: process has died [pid 299, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. May 12 04:50:51 r2-0008 docker[132985]: core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] May 12 04:50:51 r2-0008 docker[132985]: core | [rosbag-13] [INFO]: Recording stopped May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] Traceback (most recent call last): May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] raise RuntimeError(msg) May 12 04:50:51 r2-0008 docker[132985]: core | [hal-4] RuntimeError: Default zuuu_hal shutdown May 12 04:50:51 r2-0008 docker[132985]: core | [rplidar_scan_publisher-3] [INFO]: Stop motor May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Exception in thread Thread-5 (_serve): May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Traceback (most recent call last): May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] self.run() May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/threading.py", line 953, in run May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] self._target(*self._args, **self._kwargs) May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1334, in _serve May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] if not _process_event_and_continue(state, event): May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1288, in _process_event_and_continue May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] rpc_state, rpc_future = _handle_call( May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1127, in _handle_call May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] _handle_with_method_handler( May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1064, in _handle_with_method_handler May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] return _handle_unary_unary( May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 903, in _handle_unary_unary May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] return thread_pool.submit( May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] File "/usr/lib/python3.10/concurrent/futures/thread.py", line 167, in submit May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] raise RuntimeError('cannot schedule new futures after shutdown') May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] RuntimeError: cannot schedule new futures after shutdown May 12 04:50:52 r2-0008 docker[132985]: core | [INFO] [rviz2-29]: process has finished cleanly [pid 830] May 12 04:50:52 r2-0008 docker[132985]: core | [ERROR] [goto_server-11]: process has died [pid 297, exit code -11, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. May 12 04:50:52 r2-0008 docker[132985]: core | [INFO] [launch.user]: Critical node failed : [goto_server] May 12 04:50:52 r2-0008 docker[132985]: core | [ERROR] [fake_gz_interface-5]: process has died [pid 285, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_1rkd8kqs']. May 12 04:50:52 r2-0008 docker[132985]: core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Client left stream!! Version with time.sleep() May 12 04:50:52 r2-0008 docker[132985]: core | [reachy_grpc_joint_sdk_server-30] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 May 12 04:50:52 r2-0008 docker[132985]: core | [INFO] [rosbag-13]: process has finished cleanly [pid 301] May 12 04:50:52 r2-0008 docker[132985]: core | [INFO] [component_container-10]: process has finished cleanly [pid 295] May 12 04:50:52 r2-0008 docker[132985]: core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 281] May 12 04:50:53 r2-0008 docker[132985]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 12 04:50:55 r2-0008 docker[132985]: core | [ERROR] [pollen_kdl_kinematics-28]: process has died [pid 828, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_kdl_kinematics/lib/pollen_kdl_kinematics/pollen_kdl_kinematics --ros-args -r __node:=kinematics -r __ns:=/']. May 12 04:50:55 r2-0008 docker[132985]: core | [INFO] [launch.user]: Critical node failed : [pollen_kdl_kinematics] May 12 04:50:56 r2-0008 docker[132985]: core | [ERROR] [reachy_grpc_joint_sdk_server-30]: process[reachy_grpc_joint_sdk_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 12 04:50:56 r2-0008 docker[132985]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 12 04:50:56 r2-0008 docker[132985]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: sending signal 'SIGTERM' to process[reachy_grpc_joint_sdk_server-30] May 12 04:50:56 r2-0008 docker[132985]: core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] May 12 04:50:57 r2-0008 docker[132985]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 12 04:51:01 r2-0008 docker[132985]: core | [ERROR] [reachy_grpc_joint_sdk_server-30]: process[reachy_grpc_joint_sdk_server-30] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' May 12 04:51:01 r2-0008 docker[132985]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' May 12 04:51:01 r2-0008 docker[132985]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: sending signal 'SIGKILL' to process[reachy_grpc_joint_sdk_server-30] May 12 04:51:01 r2-0008 docker[132985]: core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] May 12 04:51:01 r2-0008 docker[132985]: core | [ERROR] [reachy_grpc_joint_sdk_server-30]: process has died [pid 1246, exit code -9, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server /home/reachy/.reachy_config/reachy.yaml 2 --ros-args']. May 12 04:51:01 r2-0008 docker[132985]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_joint_sdk_server] May 12 04:51:01 r2-0008 docker[132985]: core | [ERROR] [hal-4]: process has died [pid 283, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_jfsmhhz7']. May 12 04:51:01 r2-0008 docker[132985]: 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 12 04:51:02 r2-0008 docker[132985]: core exited with code 0 May 12 04:51:02 r2-0008 docker[138235]: Container core Stopping May 12 04:51:02 r2-0008 docker[138235]: Container core Stopping May 12 04:51:02 r2-0008 docker[138235]: Container core Stopped May 12 04:51:02 r2-0008 docker[138235]: Container core Removing May 12 04:51:02 r2-0008 docker[138235]: Container core Removed May 12 04:51:02 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 12 04:51:09 r2-0008 systemd[1]: reachy2-core.service: Scheduled restart job, restart counter is at 1. May 12 04:51:09 r2-0008 systemd[1]: Stopped Reachy2 Core. May 12 04:51:09 r2-0008 systemd[1]: Starting Reachy2 Core... May 12 04:51:09 r2-0008 bash[138385]: What a clear sky to launch a [core] container May 12 04:51:09 r2-0008 systemd[1]: Started Reachy2 Core. May 12 04:51:09 r2-0008 docker[138423]: Container core Creating May 12 04:51:09 r2-0008 docker[138423]: Container core Created May 12 04:51:09 r2-0008 docker[138423]: Attaching to core May 12 04:51:10 r2-0008 docker[138423]: core | Input : Rode, Output: Rode May 12 04:51:10 r2-0008 docker[138423]: core | ALSA configuration generated with the following settings: May 12 04:51:10 r2-0008 docker[138423]: core | Sink Card: 1,0 May 12 04:51:10 r2-0008 docker[138423]: core | Source Card: 1,0 May 12 04:51:10 r2-0008 docker[138423]: core | Period Size: 512 May 12 04:51:10 r2-0008 docker[138423]: core | Buffer Size: 2048 May 12 04:51:10 r2-0008 docker[138423]: core | Sound config written to ~/.asoundrc May 12 04:51:10 r2-0008 docker[138423]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-12-02-51-10-593002-r2-0008-107 May 12 04:51:10 r2-0008 docker[138423]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 12 04:51:11 r2-0008 docker[138423]: core | [INFO] [launch.user]: May 12 04:51:11 r2-0008 docker[138423]: core | -------------------------------------------------- May 12 04:51:11 r2-0008 docker[138423]: core | Configuration May 12 04:51:11 r2-0008 docker[138423]: core | -------------------------------------------------- May 12 04:51:11 r2-0008 docker[138423]: core | May 12 04:51:11 r2-0008 docker[138423]: core | [reachy.yaml] configuration override May 12 04:51:11 r2-0008 docker[138423]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:51:11 r2-0008 docker[138423]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:51:11 r2-0008 docker[138423]: core | May 12 04:51:11 r2-0008 docker[138423]: core | Validating configuration files... May 12 04:51:11 r2-0008 docker[138423]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 12 04:51:11 r2-0008 docker[138423]: core | Reachy config loaded successfully May 12 04:51:11 r2-0008 docker[138423]: core | [INFO] [launch.user]: Reachy config : May 12 04:51:11 r2-0008 docker[138423]: core | robot_model full_kit May 12 04:51:11 r2-0008 docker[138423]: core | May 12 04:51:11 r2-0008 docker[138423]: core | [INFO] [launch.user]: Reachy URDF config : May 12 04:51:11 r2-0008 docker[138423]: core | depth_camera true May 12 04:51:11 r2-0008 docker[138423]: core | robot_config full_kit May 12 04:51:11 r2-0008 docker[138423]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 12 04:51:11 r2-0008 docker[138423]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 12 04:51:11 r2-0008 docker[138423]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 12 04:51:11 r2-0008 docker[138423]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 12 04:51:11 r2-0008 docker[138423]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 12 04:51:11 r2-0008 docker[138423]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 12 04:51:11 r2-0008 docker[138423]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 12 04:51:11 r2-0008 docker[138423]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 12 04:51:11 r2-0008 docker[138423]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 12 04:51:11 r2-0008 docker[138423]: core | robot_model "dvt" May 12 04:51:11 r2-0008 docker[138423]: core | May 12 04:51:11 r2-0008 docker[138423]: core | [INFO] [launch.user]: May 12 04:51:11 r2-0008 docker[138423]: core | -------------------------------------------------- May 12 04:51:11 r2-0008 docker[138423]: core | Launching nodes... May 12 04:51:11 r2-0008 docker[138423]: core | -------------------------------------------------- May 12 04:51:11 r2-0008 docker[138423]: core | May 12 04:51:11 r2-0008 docker[138423]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 12 04:51:11 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:11Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 12 04:51:12 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:12Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 12 04:51:12 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:12Z INFO server] POULPE controller ready! May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 12 04:51:15 r2-0008 docker[138423]: 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 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Done! May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] New client - update period of 0.002s May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Done! May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] New client - update period of 0.002s May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Done! May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] New client - update period of 0.002s May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [339] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [297] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [hal-4]: process started with pid [303] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [fake_gz_interface-5]: process started with pid [317] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [robot_state_publisher-6]: process started with pid [328] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [337] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [341] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [component_container-10]: process started with pid [343] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [goto_server-11]: process started with pid [345] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [dynamic_state_router-12]: process started with pid [347] May 12 04:51:15 r2-0008 docker[138423]: core | [INFO] [rosbag-13]: process started with pid [349] May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Done! May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] New client - update period of 0.002s May 12 04:51:15 r2-0008 docker[138423]: 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 12 04:51:15 r2-0008 docker[138423]: 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 12 04:51:15 r2-0008 docker[138423]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 12 04:51:15 r2-0008 docker[138423]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 12 04:51:15 r2-0008 docker[138423]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] Done! May 12 04:51:15 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:15Z INFO server] New client - update period of 0.002s May 12 04:51:15 r2-0008 docker[138423]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 12 04:51:15 r2-0008 docker[138423]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO server] Done! May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO server] New client - update period of 0.002s May 12 04:51:16 r2-0008 docker[138423]: 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 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [05/12 02:51:16.225372][info][343][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [05/12 02:51:16.226158][info][343][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [05/12 02:51:16.226618][info][343][LinuxPal.cpp:32] createObPal: create LinuxPal! May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [05/12 02:51:16.237017][info][343][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [05/12 02:51:16.237757][info][343][DeviceManager.cpp:15] Current found device(s): (1) May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [05/12 02:51:16.238260][info][343][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 12 04:51:16 r2-0008 docker[138423]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Connecting to the default device May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO server] Done! May 12 04:51:16 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:16Z INFO server] New client - update period of 0.002s May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-12-02-51-10-593002-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Listening for topics... May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Select device cost 200 ms May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Recording... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: current time domain: device May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Create align filter May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Depth process is HW D2D May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting LDP to ON May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting laser control to 1 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Available presets: May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Preset 0: Custom May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Preset 1: Default May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Load device preset: Default May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Device preset Default loaded May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: set DecimationFilter to false May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: set HDRMerge to false May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: set TemporalFilter to false May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Enable color stream May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Enable depth stream May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Enable frame sync May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Setting LDP to ON May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Current node pid: 343 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Start device cost 310 ms May 12 04:51:16 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Initialize device cost 99 ms May 12 04:51:16 r2-0008 docker[138423]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 12 04:51:16 r2-0008 docker[138423]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 12 04:51:16 r2-0008 docker[138423]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:51:16 r2-0008 docker[138423]: core | [hal-4] [INFO]: Starting zuuu_hal! May 12 04:51:16 r2-0008 docker[138423]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 12 04:51:16 r2-0008 docker[138423]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 12 04:51:16 r2-0008 docker[138423]: core | [hal-4] May 12 04:51:16 r2-0008 docker[138423]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 12 04:51:16 r2-0008 docker[138423]: 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 12 04:51:16 r2-0008 docker[138423]: 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 12 04:51:16 r2-0008 docker[138423]: 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 12 04:51:16 r2-0008 docker[138423]: 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 12 04:51:16 r2-0008 docker[138423]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 12 04:51:16 r2-0008 docker[138423]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 12 04:51:16 r2-0008 docker[138423]: 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 12 04:51:16 r2-0008 docker[138423]: 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 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 12 04:51:16 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 12 04:51:17 r2-0008 docker[138423]: core | [hal-4] [INFO]: zuuu version: 1.2 May 12 04:51:17 r2-0008 docker[138423]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 12 04:51:17 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Publishing static transform from color to depth May 12 04:51:17 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Translation 14.118, 0.040812, 1.60059 May 12 04:51:17 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Rotation 0.000462881, 0.000723912, 0.00109022, 0.999999 May 12 04:51:17 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Publishing static transform from depth to depth May 12 04:51:17 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Translation 0, 0, 0 May 12 04:51:17 r2-0008 docker[138423]: core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 May 12 04:51:17 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 12 04:51:17 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 12 04:51:17 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 12 04:51:17 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 12 04:51:17 r2-0008 docker[138423]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 12 04:51:17 r2-0008 docker[138423]: core | [hal-4] [WARN]: Battery voltage OK (25.2V) May 12 04:51:17 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 12 04:51:17 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 12 04:51:17 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 12 04:51:17 r2-0008 docker[138423]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: Setup done! May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 12 04:51:17 r2-0008 docker[138423]: 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 12 04:51:17 r2-0008 docker[138423]: 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 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 12 04:51:17 r2-0008 docker[138423]: 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 12 04:51:17 r2-0008 docker[138423]: 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 12 04:51:17 r2-0008 docker[138423]: 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 12 04:51:17 r2-0008 docker[138423]: 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 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 12 04:51:17 r2-0008 docker[138423]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 337] May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [844] May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [forward_torque_controller-14]: process started with pid [816] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [818] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [820] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [forward_pid_controller-17]: process started with pid [822] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [gripper_current_controller-18]: process started with pid [824] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [gripper_mode_controller-19]: process started with pid [826] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [antenna_current_controller-20]: process started with pid [828] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [antenna_mode_controller-21]: process started with pid [830] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [832] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [834] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [836] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [838] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [840] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [842] May 12 04:51:17 r2-0008 docker[138423]: core | [INFO] [rviz2-29]: process started with pid [846] May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 12 04:51:17 r2-0008 docker[138423]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 12 04:51:18 r2-0008 docker[138423]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 12 04:51:18 r2-0008 docker[138423]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 12 04:51:18 r2-0008 docker[138423]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 12 04:51:18 r2-0008 docker[138423]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 12 04:51:18 r2-0008 docker[138423]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 12 04:51:18 r2-0008 docker[138423]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 12 04:51:18 r2-0008 docker[138423]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 12 04:51:18 r2-0008 docker[138423]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 12 04:51:18 r2-0008 docker[138423]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 12 04:51:18 r2-0008 docker[138423]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 12 04:51:18 r2-0008 docker[138423]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 12 04:51:18 r2-0008 docker[138423]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 12 04:51:18 r2-0008 docker[138423]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 12 04:51:18 r2-0008 docker[138423]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 12 04:51:18 r2-0008 docker[138423]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 12 04:51:18 r2-0008 docker[138423]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 12 04:51:18 r2-0008 docker[138423]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 826] May 12 04:51:18 r2-0008 docker[138423]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 12 04:51:18 r2-0008 docker[138423]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 12 04:51:18 r2-0008 docker[138423]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 12 04:51:18 r2-0008 docker[138423]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 12 04:51:18 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 12 04:51:18 r2-0008 docker[138423]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 818] May 12 04:51:18 r2-0008 docker[138423]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1249] May 12 04:51:18 r2-0008 docker[138423]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 836] May 12 04:51:18 r2-0008 docker[138423]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 820] May 12 04:51:18 r2-0008 docker[138423]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 828] May 12 04:51:18 r2-0008 docker[138423]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 12 04:51:18 r2-0008 docker[138423]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 12 04:51:19 r2-0008 docker[138423]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 840] May 12 04:51:19 r2-0008 docker[138423]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 822] May 12 04:51:19 r2-0008 docker[138423]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 834] May 12 04:51:19 r2-0008 docker[138423]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 838] May 12 04:51:19 r2-0008 docker[138423]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 842] May 12 04:51:19 r2-0008 docker[138423]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 824] May 12 04:51:19 r2-0008 docker[138423]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 830] May 12 04:51:19 r2-0008 docker[138423]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 832] May 12 04:51:19 r2-0008 docker[138423]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 816] May 12 04:51:19 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 12 04:51:19 r2-0008 docker[138423]: 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 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] **************************************** May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 33.813ms May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] **************************************** May 12 04:51:19 r2-0008 docker[138423]: 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 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 12 04:51:19 r2-0008 docker[138423]: 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 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 12 04:51:19 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 12 04:51:19 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:51:19 r2-0008 docker[138423]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 12 04:51:19 r2-0008 docker[138423]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 12 04:51:19 r2-0008 docker[138423]: core | [goto_server-11] [INFO]: Goto action server head init. May 12 04:51:19 r2-0008 docker[138423]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 12 04:51:19 r2-0008 docker[138423]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 12 04:51:19 r2-0008 docker[138423]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 12 04:51:19 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 12 04:51:19 r2-0008 docker[138423]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 12 04:51:19 r2-0008 docker[138423]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 12 04:51:19 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [PID 1249] Starting grpc server at 50051 May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 0 | commands sent 318.57 cmd/s, commands dropped 0.80 req/s, command time: 3.14 (max 1522.34) ms May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.02295 req/s May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.0466 req/s May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 1 | commands sent 310.24 cmd/s, commands dropped 1.40 req/s, command time: 3.22 (max 1331.46) ms May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 28.59065818786621, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 29.562713623046875, 'speed_limit': 1.0, 'motor_currents': -14452.0927734375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -1.848752498626709}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': -0.3212500512599945, 'velocity': 0.0, 'effort': -39.436439514160156, 'axis_sensor': -0.322345495223999, 'target_position': -0.3212500512599945}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: 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': 31.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 25.763608932495117, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 29.62548828125, 'speed_limit': 1.0, 'motor_currents': 9.173446655273438, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': -0.24479034543037415, 'velocity': 4.203895392974451e-45, 'effort': -29.321914672851562, 'axis_sensor': -0.24228954315185547, 'target_position': -0.24479034543037415}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_finger, id=8, type=unknown, extra={} state={'position': -0.07056307792663574, 'velocity': 0.0, 'effort': -0.06187000125646591, 'target_position': -0.07056307792663574}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': -0.25570693612098694, 'velocity': -8.407790785948902e-45, 'effort': -93.7200698852539, 'axis_sensor': -0.25136375427246094, 'target_position': -0.25570693612098694}) May 12 04:51:20 r2-0008 docker[138423]: 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': 32.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 25.81068992614746, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.3079833984375, 'speed_limit': 1.0, 'motor_currents': 32.446266174316406, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.2198946624994278, 'velocity': 2.2420775429197073e-44, 'effort': 57.33890151977539, 'axis_sensor': -0.22763192653656006, 'target_position': 0.2198946624994278}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: 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': 44.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 29.08868408203125, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 37.68511962890625, 'speed_limit': 1.0, 'motor_currents': 19.9509220123291, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: 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': 37.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 29.783472061157227, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 39.782867431640625, 'speed_limit': 1.0, 'motor_currents': 14268.865234375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.5735247731208801}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 27.481170654296875, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 35.260772705078125, 'speed_limit': 1.0, 'motor_currents': 4.953466415405273, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.016873836517333984, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.016873836517333984}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.45251956582069397, 'velocity': -5.531993792828871e-06, 'effort': 44409.3671875, 'target_position': -0.45251956582069397}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 28.2950382232666, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.691864013671875, 'speed_limit': 1.0, 'motor_currents': 5753.1845703125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.11170768737792969}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 28.250123977661133, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 28.628204345703125, 'speed_limit': 1.0, 'motor_currents': -9260.5849609375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -3.9640300273895264}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': 0.4209463894367218, 'velocity': 5.372738031247026e-15, 'effort': 69250.9609375, 'target_position': 0.4209463894367218}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': -0.7250089049339294, 'velocity': -1.1722005183401052e-05, 'effort': 206566.796875, 'target_position': -0.725014328956604}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 29.461130142211914, 'motor_velocities': 0.0001227901375386864, 'torque_limit': 1.0, 'motor_temperature': 41.6904296875, 'speed_limit': 1.0, 'motor_currents': 14351.08203125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 3.198467969894409}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': 0.04316737875342369, 'velocity': 2.5223372357846707e-44, 'effort': 41.227413177490234, 'axis_sensor': 0.023792266845703125, 'target_position': 0.04316737875342369}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 26.85765266418457, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.20831298828125, 'speed_limit': 1.0, 'motor_currents': 12.253450393676758, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': 0.27933716773986816, 'velocity': -6.324790781983124e-16, 'effort': 35410.6328125, 'target_position': 0.27933716773986816}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 27.938282012939453, 'motor_velocities': -7.874824918925628e-36, 'torque_limit': 1.0, 'motor_temperature': 31.97723388671875, 'speed_limit': 1.0, 'motor_currents': -3521.971923828125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -2.4976322650909424}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 27.222713470458984, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 29.428985595703125, 'speed_limit': 1.0, 'motor_currents': -16.32554817199707, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 29.69303321838379, 'motor_velocities': -0.00034727808088064194, 'torque_limit': 1.0, 'motor_temperature': 37.70111083984375, 'speed_limit': 1.0, 'motor_currents': 10112.453125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -2.663745164871216}) May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.694 req/s May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 2 | commands sent 333.99 cmd/s, commands dropped 0.60 req/s, command time: 2.99 (max 1128.83) ms May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.06902909278869629, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.06902909278869629}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 28.577491760253906, 'motor_velocities': 3.075202242917678e-15, 'torque_limit': 1.0, 'motor_temperature': 27.942962646484375, 'speed_limit': 1.0, 'motor_currents': 11334.2646484375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.030292192474007607}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': 0.12396401911973953, 'velocity': -1.401298464324817e-45, 'effort': 92779.625, 'target_position': 0.12396401911973953}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': 0.15830914676189423, 'velocity': 0.0, 'effort': -45727.9140625, 'target_position': 0.15830914676189423}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 28.850669860839844, 'motor_velocities': -9.10844001811131e-44, 'torque_limit': 1.0, 'motor_temperature': 37.79107666015625, 'speed_limit': 1.0, 'motor_currents': -25.5596981048584, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': -0.6786631941795349, 'velocity': 0.0, 'effort': -9154.2939453125, 'target_position': -0.6786631941795349}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -0.00048700132174417377, 'velocity': 4.203895392974451e-45, 'effort': 8.395583152770996, 'axis_sensor': -0.0016613006591796875, 'target_position': -0.00048700132174417377}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': -0.030944975093007088, 'velocity': 4.203895392974451e-45, 'effort': 29.984994888305664, 'axis_sensor': 0.027184247970581055, 'target_position': -0.030944975093007088}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': -0.02286025695502758, 'velocity': -1.2123754627618212e-17, 'effort': 78464.1796875, 'target_position': -0.02286025695502758}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': -0.0965341180562973, 'velocity': 7.722576810920145e-06, 'effort': -60815.2734375, 'target_position': -0.0965341180562973}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 27.338790893554688, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 34.8739013671875, 'speed_limit': 1.0, 'motor_currents': -6.891776084899902, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 27.716989517211914, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 32.9351806640625, 'speed_limit': 1.0, 'motor_currents': -13890.076171875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -3.780486822128296}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.23586927354335785, 'velocity': -8.407790785948902e-45, 'effort': 54.25260543823242, 'axis_sensor': -0.24150913953781128, 'target_position': -0.23586927354335785}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: 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': 0.016873836517333984, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.016873836517333984}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.06902909278869629, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.06902909278869629})], components_dict={'neck': Component(name=neck, id=27, type=orbita3d, extra={'name': 'neck', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}), 'antenna_left': Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.016873836517333984, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.016873836517333984}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.06902909278869629, 'velocity': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.06902909278869629})}) May 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: 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 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 12 04:51:20 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 12 04:51:20 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 12 04:51:20 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 12 04:51:20 r2-0008 docker[138423]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [PID 1249] Ready to start May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 12 04:51:20 r2-0008 docker[138423]: core | [reachy_grpc_joint_sdk_server-30] [PID 1249] Server started on port 50051. May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.0836 req/s May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 3 | commands sent 378.56 cmd/s, commands dropped 2.20 req/s, command time: 2.64 (max 925.07) ms May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.02618 req/s May 12 04:51:20 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:20Z INFO server] GRPC EtherCAT Slave 4 | commands sent 362.09 cmd/s, commands dropped 1.60 req/s, command time: 2.76 (max 820.67) ms May 12 04:51:21 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 12 04:51:21 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 12 04:51:21 r2-0008 docker[138423]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 12 04:51:21 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:21Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.0772 req/s May 12 04:51:21 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:21Z INFO server] GRPC EtherCAT Slave 5 | commands sent 378.13 cmd/s, commands dropped 1.40 req/s, command time: 2.64 (max 616.50) ms May 12 04:51:21 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:21Z INFO server] GRPC EtherCAT Slave 6 | commands sent 427.31 cmd/s, commands dropped 1.60 req/s, command time: 2.34 (max 463.81) ms May 12 04:51:21 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:21Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.0333 req/s May 12 04:51:21 r2-0008 docker[138423]: core | [INFO] [launch.user]: May 12 04:51:21 r2-0008 docker[138423]: core | -------------------------------------------------- May 12 04:51:21 r2-0008 docker[138423]: core | Node Watcher Report May 12 04:51:21 r2-0008 docker[138423]: core | Logging to /home/reachy/.ros/log/2026-05-12-02-51-10-593002-r2-0008-107 May 12 04:51:21 r2-0008 docker[138423]: core | Un-monitored nodes[11/26] May 12 04:51:21 r2-0008 docker[138423]: core | Failed[0/15]: [] May 12 04:51:21 r2-0008 docker[138423]: core | Success[15/15]: ['joint_state_broadcaster', 'gripper_mode_controller', 'forward_torque_limit_controller', 'tripod_forward_position_controller', 'forward_speed_limit_controller', 'antenna_current_controller', 'l_arm_forward_position_controller', 'forward_pid_controller', 'antenna_forward_position_controller', 'r_arm_forward_position_controller', 'gripper_forward_position_controller', 'gripper_current_controller', 'antenna_mode_controller', 'neck_forward_position_controller', 'forward_torque_controller'] May 12 04:51:21 r2-0008 docker[138423]: core | -------------------------------------------------- May 12 04:51:21 r2-0008 docker[138423]: core | May 12 04:51:21 r2-0008 docker[138423]: 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 12 04:51:21 r2-0008 docker[138423]: core | [INFO] [aplay-31]: process started with pid [1382] May 12 04:51:21 r2-0008 docker[138423]: 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 12 04:51:21 r2-0008 docker[138423]: core | [ethercat_master_server-1] [2026-05-12T02:51:21Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 885.01 Hz May 12 04:51:22 r2-0008 docker[138423]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1382]