Delete eval/YAM/pick_bread

eval/YAM/pick_bread/data/round_0002/camera/base_0_rgb.mp4

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6cf7e46a96909eca99c54e6dc814ec7d35071249eb7b3f1f03f2faa3b74ac9c5
-size 5132525

eval/YAM/pick_bread/data/round_0002/camera/left_wrist_0_rgb.mp4

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2eb5b2962d1d10e7f139d46612a3a0241e1cbebd618b30cefb520ff372099c0c
-size 5085824

eval/YAM/pick_bread/data/round_0002/camera/metadata.json

@@ -1,59 +0,0 @@
-{
-  "base_0_rgb": {
-    "codec": "h264",
-    "container": "mp4",
-    "encoder": "libx264",
-    "encoding": "bgr8",
-    "frames": 442,
-    "height": 480,
-    "lossless": false,
-    "pixel_format": "yuv420p",
-    "quality": {
-      "mode": "crf",
-      "value": 14
-    },
-    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
-    "timestamps": "camera/timestamp.pkl::base_0",
-    "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
-    "video": "camera/base_0_rgb.mp4",
-    "width": 640
-  },
-  "left_wrist_0_rgb": {
-    "codec": "h264",
-    "container": "mp4",
-    "encoder": "libx264",
-    "encoding": "bgr8",
-    "frames": 443,
-    "height": 480,
-    "lossless": false,
-    "pixel_format": "yuv420p",
-    "quality": {
-      "mode": "crf",
-      "value": 14
-    },
-    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
-    "timestamps": "camera/timestamp.pkl::left_wrist_0",
-    "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
-    "video": "camera/left_wrist_0_rgb.mp4",
-    "width": 640
-  },
-  "right_wrist_0_rgb": {
-    "codec": "h264",
-    "container": "mp4",
-    "encoder": "libx264",
-    "encoding": "bgr8",
-    "frames": 445,
-    "height": 480,
-    "lossless": false,
-    "pixel_format": "yuv420p",
-    "quality": {
-      "mode": "crf",
-      "value": 14
-    },
-    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
-    "timestamps": "camera/timestamp.pkl::right_wrist_0",
-    "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
-    "video": "camera/right_wrist_0_rgb.mp4",
-    "width": 640
-  }
-}

eval/YAM/pick_bread/data/round_0002/camera/right_wrist_0_rgb.mp4

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0e264153fe57b33b7cead7f2d0c88ff83d581022d6f7ce697fce57300651af2c
-size 5904423

eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/config.yaml

@@ -1,239 +0,0 @@
-ros:
-  localhost_only: true
-run:
-  id: ${now:%Y%m%d_%H%M%S_%f}
-  output_dir: outputs/openpi_rollout/six_task_5000/pickbread/${run.id}
-  steps: 10
-  wait_ready_timeout_s: 30.0
-  runtime_dir: ${run.output_dir}/runtime
-  action_steps: 30
-policy:
-  host: 127.0.0.1
-  port: 8000
-  prompt: Pick up the slice of bread from the large pan and place it in the small
-    pan.
-  action_hz: 30.0
-  slop_ms: 20.0
-  observation_wait_timeout_s: 1.0
-  max_observation_age_s: 0.5
-  connect_timeout_s: 10.0
-  response_timeout_s: 120.0
-data:
-  history: 64
-  bridge:
-    enabled: true
-    name: openpi_observe_${run.id}
-    wait_all_streams: true
-    qos_depth: 10
-    stamp_source: header
-    sensor_qos: reliable
-  streams:
-    robot_state:
-      topic: /prometheus/robots/yam/state
-      msg_type: sensor_msgs.msg.JointState
-      domain: robot
-      ros_domain_id: 21
-    base_0_color:
-      topic: /prometheus/sensors/cameras/base_0/color/image_raw
-      msg_type: sensor_msgs.msg.Image
-      domain: sensor
-      ros_domain_id: 22
-    left_wrist_0_color:
-      topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw
-      msg_type: sensor_msgs.msg.Image
-      domain: sensor
-      ros_domain_id: 22
-    right_wrist_0_color:
-      topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw
-      msg_type: sensor_msgs.msg.Image
-      domain: sensor
-      ros_domain_id: 22
-  name: openpi_data
-  mode: owned
-  numpy:
-    enabled: true
-  recording:
-    enabled: true
-    output_dir: ${run.output_dir}/episodes
-    queue_size: 4096
-    fps: 30.0
-    camera_encoder: libx264
-    default_event_value: null
-    enable_plots: false
-robot:
-  _target_: prometheus.nodes.robots.yam.resolve_robot
-  id: yam
-  control_domain_id: 21
-  sensor_domain_id: 22
-  collection_input_source: pedal,tty
-  collection_pedal:
-    devices:
-    - /dev/input/prometheus-pedal
-    - /dev/input/prometheus-pedal-aux
-    exclusive: true
-    confirm_presses: 2
-    confirm_window_s: 1.0
-    debounce_s: 0.05
-    pedal_map:
-      30: 0
-      48: 1
-      46: 2
-      32: 3
-      2: 0
-      3: 1
-      4: 2
-      5: 3
-  robot:
-    state_publish_hz: 120
-    control_hz: 120
-    action_space: abs_qpos
-    leader_arm: yam
-    follower_arm: yam_ultra
-    leader_gripper: yam_teaching_handle
-    follower_gripper: linear_4310
-    gripper_width_m: 0.096
-    alignment_duration_s: 3.0
-    bilateral_kp: 0.0
-    teleoperation_enabled: false
-    require_enable_button: false
-    enable_auto_recovery: false
-    sim: false
-    home_return:
-      enabled: false
-      max_velocity: 0.3
-      min_duration_s: 3.0
-      timeout_s: 25.0
-      kp_scale: 1.0
-      position_tolerance: 0.05
-      velocity_tolerance: 0.1
-      settle_s: 0.3
-      tracking_error_limit: 0.35
-      feedback_timeout_s: 0.5
-    leader_can: null
-    follower_can:
-      left: can_follower_l
-      right: can_follower_r
-    collection_mode: policy
-    policy_control:
-      urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf
-      stop_file: /tmp/prometheus_openpi/STOP
-      hz: 30.0
-      feedback_timeout_s: 0.2
-      command_timeout_s: 0.25
-      velocity_limits:
-      - 2.167985339164734
-      - 2.5182173085212707
-      - 3.223614091873169
-      - 3.5294504594802856
-      - 2.9079120349884033
-      - 4.417362494468689
-      - 0.43312741816043854
-      - 2.8881806564331054
-      - 3.57877890586853
-      - 4.925445733070373
-      - 5.793626389503479
-      - 6.933113741874695
-      - 2.582344288825989
-      - 0.4438962382078171
-      stationary_velocity_limits:
-      - 0.09619047798216343
-      - 0.09619047798216343
-      - 0.09125763334333897
-      - 0.09619047798216343
-      - 0.11098901189863682
-      - 0.18498168900609016
-      - 0.014679903751239181
-      - 0.10112332262098789
-      - 0.11098901189863682
-      - 0.10112332262098789
-      - 0.11098901189863682
-      - 0.14058608725667
-      - 0.2885714414715767
-      - 0.014345181323587895
-      command_velocity_limits:
-      - 2.442312578029071
-      - 2.4975373811192143
-      - 3.013320137018569
-      - 3.6631475333123924
-      - 3.9407490468034494
-      - 7.2432644923512814
-      - 1.516527975483024
-      - 3.180863855282635
-      - 5.499279518310686
-      - 6.393740554956087
-      - 6.757101739369718
-      - 4.424769858420448
-      - 4.669718434214604
-      - 1.5880624334517093
-      acceleration_limits:
-      - 39.5808810005585
-      - 55.004043830233
-      - 44.68060229799783
-      - 91.62133280935228
-      - 65.08588851988291
-      - 151.51135987043372
-      - 36.46975939521742
-      - 59.49779678765172
-      - 158.88149769882136
-      - 185.96936248422384
-      - 195.72700673668703
-      - 120.72372674974524
-      - 69.6267755117399
-      - 69.63367811564663
-      tracking_error_limits:
-      - 0.20073625504970552
-      - 0.309388148188591
-      - 0.29782940477132797
-      - 0.22655070275068284
-      - 0.5001068050414323
-      - 0.7771305423974991
-      - 0.06952205713838339
-      - 0.268162048868835
-      - 0.3556229412555695
-      - 0.4542571985721588
-      - 0.3109293460845947
-      - 1.0653276860713958
-      - 0.45733958966098726
-      - 0.07211417473852634
-  cameras:
-    capture_hz: 30
-    capture_width: 640
-    capture_height: 480
-    publish_hz: 30
-    collect_ir: false
-    ir: false
-    prepub_resize: 1.0
-    camera_info: false
-    serial_no:
-      base_0: '260322272085'
-      left_wrist_0: '260422275825'
-      right_wrist_0: '260322279382'
-    qos: reliable
-execute: true
-async_inference:
-  enabled: false
-  prefetch_steps: 12
-  blend_steps: 5
-execution:
-  hold_settle_s: 0.2
-  hold_settle_timeout_s: 5.0
-  max_prediction_age_s: 0.5
-  max_schedule_lateness_s: 0.035
-  command_ack_timeout_s: 0.1
-hardware:
-  name: openpi_hardware
-  mode: owned
-  sensors: auto
-  streams: auto
-preview:
-  enabled: true
-  mode: local
-  ui_mode: openpi
-  window: Pi0.5 - Async execution
-  width: 1280
-  height: 720
-  fps: 20.0
-  stale_timeout_s: 1.0
-  host: 127.0.0.1
-  port: 7860
-  refresh_ms: 100

eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/hydra.yaml

@@ -1,161 +0,0 @@
-hydra:
-  run:
-    dir: ${run.output_dir}/hydra
-  sweep:
-    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
-    subdir: ${hydra.job.num}
-  launcher:
-    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
-  sweeper:
-    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
-    max_batch_size: null
-    params: null
-  help:
-    app_name: ${hydra.job.name}
-    header: '${hydra.help.app_name} is powered by Hydra.
-
-      '
-    footer: 'Powered by Hydra (https://hydra.cc)
-
-      Use --hydra-help to view Hydra specific help
-
-      '
-    template: '${hydra.help.header}
-
-      == Configuration groups ==
-
-      Compose your configuration from those groups (group=option)
-
-
-      $APP_CONFIG_GROUPS
-
-
-      == Config ==
-
-      Override anything in the config (foo.bar=value)
-
-
-      $CONFIG
-
-
-      ${hydra.help.footer}
-
-      '
-  hydra_help:
-    template: 'Hydra (${hydra.runtime.version})
-
-      See https://hydra.cc for more info.
-
-
-      == Flags ==
-
-      $FLAGS_HELP
-
-
-      == Configuration groups ==
-
-      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
-      to command line)
-
-
-      $HYDRA_CONFIG_GROUPS
-
-
-      Use ''--cfg hydra'' to Show the Hydra config.
-
-      '
-    hydra_help: ???
-  hydra_logging:
-    version: 1
-    formatters:
-      simple:
-        format: '[%(asctime)s][HYDRA] %(message)s'
-    handlers:
-      console:
-        class: logging.StreamHandler
-        formatter: simple
-        stream: ext://sys.stdout
-    root:
-      level: INFO
-      handlers:
-      - console
-    loggers:
-      logging_example:
-        level: DEBUG
-    disable_existing_loggers: false
-  job_logging:
-    version: 1
-    formatters:
-      simple:
-        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
-    handlers:
-      console:
-        class: logging.StreamHandler
-        formatter: simple
-        stream: ext://sys.stdout
-      file:
-        class: logging.FileHandler
-        formatter: simple
-        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
-    root:
-      level: INFO
-      handlers:
-      - console
-      - file
-    disable_existing_loggers: false
-  env: {}
-  mode: RUN
-  searchpath: []
-  callbacks: {}
-  output_subdir: .hydra
-  overrides:
-    hydra:
-    - hydra.mode=RUN
-    task:
-    - execute=true
-    - policy.host=127.0.0.1
-    - policy.port=8000
-    - run.steps=10
-    - run.action_steps=30
-    - async_inference.enabled=false
-  job:
-    name: openpi_rollout
-    chdir: false
-    override_dirname: async_inference.enabled=false,execute=true,policy.host=127.0.0.1,policy.port=8000,run.action_steps=30,run.steps=10
-    id: ???
-    num: ???
-    config_name: openpi_six_tasks_5000_pickbread
-    env_set: {}
-    env_copy: []
-    config:
-      override_dirname:
-        kv_sep: '='
-        item_sep: ','
-        exclude_keys: []
-  runtime:
-    version: 1.3.6
-    version_base: '1.3'
-    cwd: /home/romoya-1/openpi-workspace/PrometheusV2
-    config_sources:
-    - path: hydra.conf
-      schema: pkg
-      provider: hydra
-    - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs
-      schema: file
-      provider: main
-    - path: ''
-      schema: structured
-      provider: schema
-    output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/six_task_5000/pickbread/20260915_150454_483819/hydra
-    choices:
-      robot: yam_policy
-      hydra/env: default
-      hydra/callbacks: null
-      hydra/job_logging: default
-      hydra/hydra_logging: default
-      hydra/hydra_help: default
-      hydra/help: default
-      hydra/sweeper: basic
-      hydra/launcher: basic
-      hydra/output: default
-  verbose: false

eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/overrides.yaml

@@ -1,6 +0,0 @@
-- execute=true
-- policy.host=127.0.0.1
-- policy.port=8000
-- run.steps=10
-- run.action_steps=30
-- async_inference.enabled=false

eval/YAM/pick_bread/data/round_0002/debug/hydra/openpi_rollout.log

@@ -1,259 +0,0 @@
-[2026-09-15 15:04:54,808][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
-[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
-[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
-[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
-[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
-[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
-[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
-[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
-[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
-[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] -   motor_type:          DM4310
-[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] -   motor_kp:            20.0
-[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] -   motor_kd:            0.5
-[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] -   gripper_limits:      None
-[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] -   needs_calibration:   True
-[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] -   motor_direction:     1
-[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
-[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
-[2026-09-15 15:04:54,811][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
-[2026-09-15 15:04:54,811][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
-[2026-09-15 15:04:54,811][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
-[2026-09-15 15:04:54,813][can.interfaces.socketcan.socketcan][INFO] - Created a socket
-[2026-09-15 15:04:54,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
-[2026-09-15 15:04:54,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
-[2026-09-15 15:04:54,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
-[2026-09-15 15:04:54,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
-[2026-09-15 15:04:54,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:54,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
-[2026-09-15 15:04:54,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
-[2026-09-15 15:04:54,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:54,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
-[2026-09-15 15:04:54,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
-[2026-09-15 15:04:54,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:54,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
-[2026-09-15 15:04:54,957][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
-[2026-09-15 15:04:54,968][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:54,979][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
-[2026-09-15 15:04:54,990][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
-[2026-09-15 15:04:55,001][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:55,012][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
-[2026-09-15 15:04:55,023][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
-[2026-09-15 15:04:55,034][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:55,045][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
-[2026-09-15 15:04:55,045][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
-[2026-09-15 15:04:55,045][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
-[2026-09-15 15:04:55,045][can.interfaces.socketcan.socketcan][INFO] - Created a socket
-[2026-09-15 15:04:55,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
-[2026-09-15 15:04:55,155][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
-[2026-09-15 15:04:55,210][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
-[2026-09-15 15:04:55,266][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
-[2026-09-15 15:04:55,321][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
-[2026-09-15 15:04:55,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
-[2026-09-15 15:04:55,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
-[2026-09-15 15:04:55,431][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
-[2026-09-15 15:04:55,431][can.interfaces.socketcan.socketcan][INFO] - Created a socket
-[2026-09-15 15:04:55,431][root][INFO] - Can interface yam_real use_buffered_reader: False
-[2026-09-15 15:04:55,443][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
-[2026-09-15 15:04:55,448][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
-[2026-09-15 15:04:55,455][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
-[2026-09-15 15:04:55,462][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
-[2026-09-15 15:04:55,469][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
-[2026-09-15 15:04:55,474][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
-[2026-09-15 15:04:55,483][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
-[2026-09-15 15:04:55,489][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
-[2026-09-15 15:04:55,489][root][INFO] - current_pos: [0.007820248722056888, -0.000953688868543523, 0.0017166399633783413, 0.0001907377737087046, 0.011253528648813571, -0.0005722133211261138, 0.019645990691996573]
-[2026-09-15 15:04:55,489][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-[2026-09-15 15:04:55,489][root][INFO] - starting separate thread for control loop
-[2026-09-15 15:04:55,590][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.008201724269474298, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1789455895.59016), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455895.59016), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789455895.59016), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.00019073777370515188, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789455895.59016), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.011253528648813571, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455895.59016), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0005722133211261138, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455895.59016), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.019645990691996573, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455895.59016)]
-[2026-09-15 15:04:55,590][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
-[2026-09-15 15:04:55,590][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0196
-[2026-09-15 15:04:55,590][i2rt.robots.utils][INFO] - Testing gripper direction: 1
-[2026-09-15 15:04:56,259][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2638
-[2026-09-15 15:04:56,560][i2rt.robots.utils][INFO] - Testing gripper direction: -1
-[2026-09-15 15:04:57,186][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067
-[2026-09-15 15:04:57,486][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.296597238117037, -0.006675822079804661)
-[2026-09-15 15:04:57,487][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.29659724 -0.00667582]
-[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
-[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
-[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
-[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
-[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
-[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
-[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
-[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
-[2026-09-15 15:04:57,735][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
-[2026-09-15 15:04:57,735][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
-[2026-09-15 15:04:57,735][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
-[2026-09-15 15:04:57,735][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
-[2026-09-15 15:04:57,735][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
-[2026-09-15 15:04:57,735][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
-[2026-09-15 15:04:57,735][can.interfaces.socketcan.socketcan][INFO] - Created a socket
-[2026-09-15 15:04:57,736][root][INFO] - initializing, ....
-[2026-09-15 15:04:57,746][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
-[2026-09-15 15:04:57,757][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:57,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
-[2026-09-15 15:04:57,779][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
-[2026-09-15 15:04:57,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:57,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
-[2026-09-15 15:04:57,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
-[2026-09-15 15:04:57,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:57,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
-[2026-09-15 15:04:57,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
-[2026-09-15 15:04:57,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:57,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
-[2026-09-15 15:04:57,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
-[2026-09-15 15:04:57,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:57,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
-[2026-09-15 15:04:57,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
-[2026-09-15 15:04:57,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:57,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
-[2026-09-15 15:04:57,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
-[2026-09-15 15:04:57,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
-[2026-09-15 15:04:57,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
-[2026-09-15 15:04:57,966][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
-[2026-09-15 15:04:57,966][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
-[2026-09-15 15:04:57,966][can.interfaces.socketcan.socketcan][INFO] - Created a socket
-[2026-09-15 15:04:58,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
-[2026-09-15 15:04:58,077][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
-[2026-09-15 15:04:58,132][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
-[2026-09-15 15:04:58,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
-[2026-09-15 15:04:58,242][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
-[2026-09-15 15:04:58,297][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
-[2026-09-15 15:04:58,352][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
-[2026-09-15 15:04:58,352][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash)
-[2026-09-15 15:04:58,352][can.interfaces.socketcan.socketcan][INFO] - Created a socket
-[2026-09-15 15:04:58,352][root][INFO] - Can interface yam_real use_buffered_reader: False
-[2026-09-15 15:04:58,363][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
-[2026-09-15 15:04:58,368][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
-[2026-09-15 15:04:58,375][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
-[2026-09-15 15:04:58,381][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
-[2026-09-15 15:04:58,387][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
-[2026-09-15 15:04:58,393][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
-[2026-09-15 15:04:58,400][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
-[2026-09-15 15:04:58,406][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
-[2026-09-15 15:04:58,406][root][INFO] - current_pos: [0.04444190127412817, -0.0013351644159609322, 0.000953688868543523, 0.000953688868543523, -0.022316319523918438, -0.010109102006561344, -6.286526283665217]
-[2026-09-15 15:04:58,406][root][INFO] - motor 6 pos=-6.287, offset -2π
-[2026-09-15 15:04:58,406][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -6.283185307179586]
-[2026-09-15 15:04:58,406][root][INFO] - starting separate thread for control loop
-[2026-09-15 15:04:58,507][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=0.04482337682154558, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1789455898.5075579), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789455898.5075579), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789455898.5075579), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789455898.5075579), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.022316319523918438, voltage=-1, temp_mos=26.0, temp_rotor=26.0, timestamp=1789455898.5075579), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.010109102006561344, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455898.5075579), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.003340976485630698, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1789455898.5075579)]
-[2026-09-15 15:04:58,507][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
-[2026-09-15 15:04:58,507][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0033
-[2026-09-15 15:04:58,507][i2rt.robots.utils][INFO] - Testing gripper direction: 1
-[2026-09-15 15:04:59,185][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2515
-[2026-09-15 15:04:59,486][i2rt.robots.utils][INFO] - Testing gripper direction: -1
-[2026-09-15 15:05:00,106][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0087
-[2026-09-15 15:05:00,406][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.251484689189202, -0.008681634149474426)
-[2026-09-15 15:05:00,406][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25148469 -0.00868163]
-[2026-09-15 15:05:00,545][root][INFO] - initializing, ....
-[2026-09-15 15:05:07,741][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 236.81 Hz
-[2026-09-15 15:05:10,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 231.27 Hz
-[2026-09-15 15:05:17,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 231.62 Hz
-[2026-09-15 15:05:20,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.35 Hz
-[2026-09-15 15:05:25,492][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 239.64 iterations per second over 30.00 seconds.
-[2026-09-15 15:05:25,492][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.004172 s, max step_time: 0.069246 s
-[2026-09-15 15:05:27,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.73 Hz
-[2026-09-15 15:05:28,410][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 238.67 iterations per second over 30.00 seconds.
-[2026-09-15 15:05:28,410][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.004189 s, max step_time: 0.070200 s
-[2026-09-15 15:05:30,551][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.19 Hz
-[2026-09-15 15:05:37,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.46 Hz
-[2026-09-15 15:05:40,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.94 Hz
-[2026-09-15 15:05:47,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.59 Hz
-[2026-09-15 15:05:48,029][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
-[2026-09-15 15:05:48,029][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
-[2026-09-15 15:05:50,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.28 Hz
-[2026-09-15 15:05:55,496][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 242.87 iterations per second over 30.00 seconds.
-[2026-09-15 15:05:55,496][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.004117 s, max step_time: 0.007826 s
-[2026-09-15 15:05:57,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.81 Hz
-[2026-09-15 15:05:58,412][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 243.75 iterations per second over 30.00 seconds.
-[2026-09-15 15:05:58,412][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.004103 s, max step_time: 0.008928 s
-[2026-09-15 15:06:00,556][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.61 Hz
-[2026-09-15 15:06:07,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 240.44 Hz
-[2026-09-15 15:06:10,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.02 Hz
-[2026-09-15 15:06:17,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 233.96 Hz
-[2026-09-15 15:06:20,562][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 234.35 Hz
-[2026-09-15 15:06:25,497][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 235.56 iterations per second over 30.00 seconds.
-[2026-09-15 15:06:25,497][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004245 s, max step_time: 0.027564 s
-[2026-09-15 15:06:27,757][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 232.78 Hz
-[2026-09-15 15:06:28,414][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 237.89 iterations per second over 30.00 seconds.
-[2026-09-15 15:06:28,414][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.004204 s, max step_time: 0.025993 s
-[2026-09-15 15:06:30,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.95 Hz
-[2026-09-15 15:06:37,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.04 Hz
-[2026-09-15 15:06:40,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.79 Hz
-[2026-09-15 15:06:47,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 239.92 Hz
-[2026-09-15 15:06:50,567][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.23 Hz
-[2026-09-15 15:06:55,501][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 240.47 iterations per second over 30.00 seconds.
-[2026-09-15 15:06:55,502][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004159 s, max step_time: 0.007872 s
-[2026-09-15 15:06:57,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 233.89 Hz
-[2026-09-15 15:06:58,417][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 241.04 iterations per second over 30.00 seconds.
-[2026-09-15 15:06:58,418][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004149 s, max step_time: 0.027934 s
-[2026-09-15 15:07:00,570][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 237.23 Hz
-[2026-09-15 15:07:07,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.84 Hz
-[2026-09-15 15:07:10,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.93 Hz
-[2026-09-15 15:07:17,775][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 240.79 Hz
-[2026-09-15 15:07:20,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.90 Hz
-[2026-09-15 15:07:25,503][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 241.71 iterations per second over 30.00 seconds.
-[2026-09-15 15:07:25,503][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.004137 s, max step_time: 0.027007 s
-[2026-09-15 15:07:27,778][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.81 Hz
-[2026-09-15 15:07:28,421][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.04 iterations per second over 30.00 seconds.
-[2026-09-15 15:07:28,421][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.004081 s, max step_time: 0.007213 s
-[2026-09-15 15:07:30,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.16 Hz
-[2026-09-15 15:07:37,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 238.33 Hz
-[2026-09-15 15:07:40,577][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.14 Hz
-[2026-09-15 15:07:47,782][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 236.49 Hz
-[2026-09-15 15:07:50,580][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.54 Hz
-[2026-09-15 15:07:55,506][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 239.21 iterations per second over 30.00 seconds.
-[2026-09-15 15:07:55,506][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004180 s, max step_time: 0.022537 s
-[2026-09-15 15:07:57,782][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.10 Hz
-[2026-09-15 15:07:58,424][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 241.24 iterations per second over 30.00 seconds.
-[2026-09-15 15:07:58,424][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004145 s, max step_time: 0.026606 s
-[2026-09-15 15:08:00,581][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.26 Hz
-[2026-09-15 15:08:07,783][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.98 Hz
-[2026-09-15 15:08:10,581][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.78 Hz
-[2026-09-15 15:08:17,561][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
-[2026-09-15 15:08:17,561][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
-[2026-09-15 15:08:17,783][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.59 Hz
-[2026-09-15 15:08:20,584][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.14 Hz
-[2026-09-15 15:08:25,510][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.37 iterations per second over 30.00 seconds.
-[2026-09-15 15:08:25,510][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.004075 s, max step_time: 0.007990 s
-[2026-09-15 15:08:27,787][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.91 Hz
-[2026-09-15 15:08:28,424][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.80 iterations per second over 30.00 seconds.
-[2026-09-15 15:08:28,424][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.004068 s, max step_time: 0.008070 s
-[2026-09-15 15:08:30,584][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.29 Hz
-[2026-09-15 15:08:37,791][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.41 Hz
-[2026-09-15 15:08:40,587][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.22 Hz
-[2026-09-15 15:08:47,794][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.12 Hz
-[2026-09-15 15:08:50,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.60 Hz
-[2026-09-15 15:08:55,512][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 242.01 iterations per second over 30.00 seconds.
-[2026-09-15 15:08:55,512][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.004132 s, max step_time: 0.009419 s
-[2026-09-15 15:08:57,795][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.49 Hz
-[2026-09-15 15:08:58,425][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 242.43 iterations per second over 30.00 seconds.
-[2026-09-15 15:08:58,426][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.004125 s, max step_time: 0.009995 s
-[2026-09-15 15:09:00,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.09 Hz
-[2026-09-15 15:09:07,797][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.52 Hz
-[2026-09-15 15:09:10,597][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.44 Hz
-[2026-09-15 15:09:17,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.64 Hz
-[2026-09-15 15:09:20,598][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.51 Hz
-[2026-09-15 15:09:25,513][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 241.76 iterations per second over 30.00 seconds.
-[2026-09-15 15:09:25,513][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 129 times, mean step_time: 0.004136 s, max step_time: 0.012996 s
-[2026-09-15 15:09:27,808][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.44 Hz
-[2026-09-15 15:09:28,426][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 242.33 iterations per second over 30.00 seconds.
-[2026-09-15 15:09:28,426][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 103 times, mean step_time: 0.004127 s, max step_time: 0.012198 s
-[2026-09-15 15:09:30,599][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.19 Hz
-[2026-09-15 15:09:37,805][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.73 Hz
-[2026-09-15 15:09:40,600][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.99 Hz
-[2026-09-15 15:09:47,809][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 236.73 Hz
-[2026-09-15 15:09:50,602][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.26 Hz
-[2026-09-15 15:09:55,517][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 241.30 iterations per second over 30.00 seconds.
-[2026-09-15 15:09:55,517][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 93 times, mean step_time: 0.004144 s, max step_time: 0.013796 s
-[2026-09-15 15:09:55,717][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 242.13 iterations per second over 27.29 seconds.
-[2026-09-15 15:09:55,727][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 242.96 iterations per second over 0.21 seconds.

eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0000.npz

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eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0001.npz

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eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0002.npz

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eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0003.npz

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eval/YAM/pick_bread/data/round_0002/debug/validations/validation_0003.json

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eval/YAM/pick_bread/data/round_0002/debug/validations/validation_0004.json

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eval/YAM/pick_bread/data/round_0002/debug/validations/validation_0005.json

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eval/YAM/pick_bread/data/round_0002/debug/validations/validation_0006.json

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eval/YAM/pick_bread/data/round_0002/debug/validations/validation_0007.json

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eval/YAM/pick_bread/data/round_0002/debug/validations/validation_0008.json

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eval/YAM/pick_bread/data/round_0002/debug/validations/validation_0009.json

@@ -1,187 +0,0 @@
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eval/YAM/pick_bread/data/round_0002/manifests/action.json

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-{
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eval/YAM/pick_bread/data/round_0002/manifests/camera.json

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-{
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eval/YAM/pick_bread/data/round_0002/manifests/event.json

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-{
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eval/YAM/pick_bread/data/round_0002/manifests/robot.json

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-{
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eval/YAM/pick_bread/data/round_0002/manifests/tactile.json

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-{}

eval/YAM/pick_bread/data/round_0002/robot/robot_state_dict.pkl

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-version https://git-lfs.github.com/spec/v1
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-size 688438

eval/YAM/pick_bread/data/round_0002/workflow_manifest.json

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