[xs_sdk-1] [DEBUG] ID: 1, write Drive_Mode [00000100]. [xs_sdk-1] [DEBUG] ID: 1, set mode position, prof_vel=200, prof_acc=100. [xs_sdk-1] [DEBUG] ID: 1, torqued on. [xs_sdk-1] [DEBUG] ID: 2, torqued off. [xs_sdk-1] [DEBUG] ID: 2, read Drive_Mode [00000000]. [xs_sdk-1] [DEBUG] ID: 2, write Drive_Mode [00000100]. [xs_sdk-1] [DEBUG] ID: 2, set mode position, prof_vel=200, prof_acc=100. [xs_sdk-1] [DEBUG] ID: 3, read Drive_Mode [00000001]. [xs_sdk-1] [DEBUG] ID: 3, write Drive_Mode [00000101]. [xs_sdk-1] [DEBUG] ID: 3, set mode position, prof_vel=200, prof_acc=100. [xs_sdk-1] [DEBUG] ID: 2, torqued on. [xs_sdk-1] [DEBUG] ID: 4, torqued off. [xs_sdk-1] [DEBUG] ID: 4, read Drive_Mode [00000000]. [xs_sdk-1] [DEBUG] ID: 4, write Drive_Mode [00000100]. [xs_sdk-1] [DEBUG] ID: 4, set mode position, prof_vel=200, prof_acc=100. [xs_sdk-1] [DEBUG] ID: 5, read Drive_Mode [00000001]. [xs_sdk-1] [DEBUG] ID: 5, write Drive_Mode [00000101]. [xs_sdk-1] [DEBUG] ID: 5, set mode position, prof_vel=200, prof_acc=100. [xs_sdk-1] [DEBUG] ID: 4, torqued on. [xs_sdk-1] [DEBUG] ID: 6, torqued off. [xs_sdk-1] [DEBUG] ID: 6, read Drive_Mode [00000001]. [xs_sdk-1] [DEBUG] ID: 6, write Drive_Mode [00000101]. [xs_sdk-1] [DEBUG] ID: 6, set mode position, prof_vel=200, prof_acc=100. [xs_sdk-1] [DEBUG] ID: 6, torqued on. [xs_sdk-1] [DEBUG] ID: 7, torqued off. [xs_sdk-1] [DEBUG] ID: 7, read Drive_Mode [00000000]. [xs_sdk-1] [DEBUG] ID: 7, write Drive_Mode [00000100]. [xs_sdk-1] [DEBUG] ID: 7, set mode position, prof_vel=200, prof_acc=100. [xs_sdk-1] [DEBUG] ID: 7, torqued on. [xs_sdk-1] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'time'. [xs_sdk-1] [DEBUG] ID: 8, torqued off. [xs_sdk-1] [DEBUG] ID: 8, read Drive_Mode [00000000]. [xs_sdk-1] [DEBUG] ID: 8, set mode pwm. [xs_sdk-1] [DEBUG] ID: 8, torqued on. [xs_sdk-1] [INFO] The operating mode for the 'gripper' joint was changed to 'pwm' with profile type 'velocity'. [xs_sdk-1] [WARN] Could not get 'Goal_Current' Item Info. This message can be ignored if none of the robot's motors support current control. [xs_sdk-1] [INFO] Interbotix X-Series Driver is up! [xs_sdk-1] [INFO] [1682545304.932253603] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up! [xsarm_robot.py-6] [INFO] [1682545307.285639972] [px150.robot_manipulation]: [xsarm_robot.py-6] Robot Name: px150 [xsarm_robot.py-6] Robot Model: px150 [xsarm_robot.py-6] [INFO] [1682545307.287261931] [px150.robot_manipulation]: Initialized InterbotixRobotXSCore! [xsarm_robot.py-6] [INFO] [1682545307.542355680] [px150.robot_manipulation]: [xsarm_robot.py-6] Arm Group Name: arm [xsarm_robot.py-6] Moving Time: 0.20 seconds [xsarm_robot.py-6] Acceleration Time: 0.10 seconds [xsarm_robot.py-6] Drive Mode: Time-Based-Profile [xsarm_robot.py-6] [INFO] [1682545307.544586472] [px150.robot_manipulation]: Initialized InterbotixArmXSInterface! [xsarm_robot.py-6] [INFO] [1682545308.064835784] [px150.robot_manipulation]: [xsarm_robot.py-6] Gripper Name: gripper [xsarm_robot.py-6] Gripper Pressure: 50.0% [xsarm_robot.py-6] [INFO] [1682545308.066733399] [px150.robot_manipulation]: Initialized InterbotixGripperXSInterface! [xsarm_robot.py-6] [INFO] [1682545308.573385513] [px150.robot_manipulation]: Ready to receive processed joystick commands. [xsarm_joy-5] [WARN] [1682545317.711471862] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545317.712066017] [px150.xsarm_joy]: Buttons input: '1,0,0,0,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545317.712133202] [px150.xsarm_joy]: Setting pose_cmd to HOME_POSE because buttons.at(cntlr['HOME_POSE']) was mapped as '0' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545317.762201377] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545317.762295318] [px150.xsarm_joy]: Buttons input: '1,0,0,0,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545317.762332332] [px150.xsarm_joy]: Setting pose_cmd to HOME_POSE because buttons.at(cntlr['HOME_POSE']) was mapped as '0' and set to '1'. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 4, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545317.815515037] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545317.815658560] [px150.xsarm_joy]: Buttons input: '1,0,0,0,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545317.815708685] [px150.xsarm_joy]: Setting pose_cmd to HOME_POSE because buttons.at(cntlr['HOME_POSE']) was mapped as '0' and set to '1'. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545317.913901788] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545317.913978217] [px150.xsarm_joy]: Buttons input: '1,0,0,0,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545317.914015663] [px150.xsarm_joy]: Setting pose_cmd to HOME_POSE because buttons.at(cntlr['HOME_POSE']) was mapped as '0' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. [xsarm_joy-5] [WARN] [1682545319.542657912] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545319.542735555] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545319.542773746] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545319.580769447] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545319.580852021] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545319.580929141] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545319.585431933] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545319.585564985] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545319.585605387] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545319.599996263] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545319.600169442] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545319.600218153] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545319.610868031] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545319.610958029] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545319.610995181] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 874. [xs_sdk-1] [DEBUG] ID: 4, writing position command 3058. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2569. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545319.683614666] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545319.683746964] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545319.683788889] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. [xsarm_joy-5] [WARN] [1682545321.485791636] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545321.485879591] [px150.xsarm_joy]: Buttons input: '1,0,0,0,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545321.485937713] [px150.xsarm_joy]: Setting pose_cmd to HOME_POSE because buttons.at(cntlr['HOME_POSE']) was mapped as '0' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 4, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. [xsarm_joy-5] [WARN] [1682545323.493025300] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545323.493137036] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545323.493180037] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545323.550494106] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545323.550572659] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545323.550687583] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545323.562412904] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545323.562599796] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545323.562650505] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545323.575982841] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545323.576068559] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545323.576108254] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545323.582935127] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545323.583029031] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545323.583066161] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 874. [xs_sdk-1] [DEBUG] ID: 4, writing position command 3058. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2569. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545323.615104556] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545323.615277806] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545323.615326734] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545323.625392607] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545323.625486961] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545323.625527479] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. [xsarm_joy-5] [WARN] [1682545325.878136774] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545325.878289071] [px150.xsarm_joy]: Buttons input: '1,0,0,0,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545325.878333424] [px150.xsarm_joy]: Setting pose_cmd to HOME_POSE because buttons.at(cntlr['HOME_POSE']) was mapped as '0' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 4, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. [xsarm_joy-5] [WARN] [1682545328.453027316] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545328.453123206] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545328.453160120] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545328.454425044] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545328.454495900] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545328.454527399] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545328.487517213] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545328.488962282] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545328.489012794] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545328.495929839] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545328.496224670] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545328.496281197] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545328.509480036] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545328.509589943] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545328.509632827] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545328.527103086] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545328.527193420] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545328.527262270] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 874. [xs_sdk-1] [DEBUG] ID: 4, writing position command 3058. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2569. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545328.624275854] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545328.624377196] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545328.624417548] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545328.675112182] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545328.676349514] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545328.676464012] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. [xsarm_joy-5] [WARN] [1682545330.380578508] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545330.380689610] [px150.xsarm_joy]: Buttons input: '1,0,0,0,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545330.380736222] [px150.xsarm_joy]: Setting pose_cmd to HOME_POSE because buttons.at(cntlr['HOME_POSE']) was mapped as '0' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 4, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. [xsarm_joy-5] [WARN] [1682545332.804194939] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545332.804269269] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545332.804306649] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545332.812897643] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545332.812978043] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545332.813014785] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545332.821968520] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545332.822089709] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545332.822137703] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545332.878936102] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545332.879025601] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545332.879062482] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545332.885642330] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545332.885899301] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545332.885950689] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545332.904846500] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545332.904932215] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545332.904969272] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 874. [xs_sdk-1] [DEBUG] ID: 4, writing position command 3058. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2569. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545332.911706448] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545332.911844113] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545332.911891977] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. [xsarm_joy-5] [WARN] [1682545335.181330611] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545335.181479668] [px150.xsarm_joy]: Buttons input: '1,0,0,0,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545335.181525409] [px150.xsarm_joy]: Setting pose_cmd to HOME_POSE because buttons.at(cntlr['HOME_POSE']) was mapped as '0' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 4, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545335.356371917] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545335.356503473] [px150.xsarm_joy]: Buttons input: '1,0,0,0,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545335.356550356] [px150.xsarm_joy]: Setting pose_cmd to HOME_POSE because buttons.at(cntlr['HOME_POSE']) was mapped as '0' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. [xsarm_joy-5] [WARN] [1682545337.195994739] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.196294839] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.196354266] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545337.204837268] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.204904796] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.204941249] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545337.212952476] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.213121842] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.213171135] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 2, writing position command 874. [xs_sdk-1] [DEBUG] ID: 4, writing position command 3058. [xs_sdk-1] [DEBUG] ID: 6, writing position command 2569. [xs_sdk-1] [DEBUG] ID: 7, writing position command 2048. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545337.271646035] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.271739324] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.271777704] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545337.276894210] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.277053236] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.277104403] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 1500. [xsarm_joy-5] [WARN] [1682545337.293144330] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.293218065] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.293254525] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xsarm_joy-5] [WARN] [1682545337.303579440] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.303715321] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.303762581] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 1500. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 750. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545337.338022512] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.338146128] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.338188087] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545337.341387223] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.341466194] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.341507319] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545337.359022130] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.359160135] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.359699740] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 750. [xsarm_joy-5] [WARN] [1682545337.365889229] [px150.xsarm_joy]: Axes input: '-0.000000,-0.000000,'. [xsarm_joy-5] [WARN] [1682545337.366085238] [px150.xsarm_joy]: Buttons input: '0,0,0,1,0,0,0,0,0,0,0,0,'. [xsarm_joy-5] [WARN] [1682545337.366148690] [px150.xsarm_joy]: Setting pose_cmd to SLEEP_POSE because buttons.at(cntlr['SLEEP_POSE']) was mapped as '3' and set to '1'. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Velocity, value: 200. [xs_sdk-1] [DEBUG] ID: 1, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 2, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 4, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 6, writing reg: Profile_Acceleration, value: 100. [xs_sdk-1] [DEBUG] ID: 7, writing reg: Profile_Acceleration, value: 100. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [joy_node-4] [INFO] [1682545340.908380424] [rclcpp]: signal_handler(signum=2) [xs_sdk-1] [INFO] [1682545340.908539212] [rclcpp]: signal_handler(signum=2) [xsarm_joy-5] [INFO] [1682545340.913177599] [rclcpp]: signal_handler(signum=2) [INFO] [xsarm_joy-5]: process has finished cleanly [pid 3413] [INFO] [joy_node-4]: process has finished cleanly [pid 3410] [INFO] [xs_sdk-1]: process has finished cleanly [pid 3403] [ERROR] [robot_state_publisher-2]: process has died [pid 3405, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args -r __ns:=/px150 --params-file /tmp/launch_params_82o_bb_2']. [INFO] [rviz2-3]: process has finished cleanly [pid 3407] [xsarm_robot.py-6] The following exception was never retrieved: cannot use Destroyable because destruction was requested [INFO] [xsarm_robot.py-6]: process has finished cleanly [pid 3425]