Upload YAM pick bread evaluation rollout

.gitattributes

@@ -756,3 +756,17 @@ teleoperation/catch_and_place/0064/action/executed_action_dict.pkl filter=lfs di
 teleoperation/catch_and_place/0064/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
 teleoperation/catch_and_place/0065/action/executed_action_dict.pkl filter=lfs diff=lfs merge=lfs -text
 teleoperation/catch_and_place/0065/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0002/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0003/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0004/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0007/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0008/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0009/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0010/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0011/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0012/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0013/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0014/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0015/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0016/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/pick_bread/pickbread/round_0017/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text

eval/YAM/pick_bread/pickbread/hydra/.hydra/config.yaml

@@ -0,0 +1,239 @@
+ros:
+  localhost_only: true
+run:
+  id: ${now:%Y%m%d_%H%M%S_%f}
+  output_dir: outputs/openpi_rollout/six_task_5000/pickbread
+  steps: 20
+  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}
+    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:
+      - 7.326937734087213
+      - 7.492612143357643
+      - 9.039960411055707
+      - 10.989442599937178
+      - 11.822247140410347
+      - 21.729793477053846
+      - 4.549583926449072
+      - 9.542591565847905
+      - 16.49783855493206
+      - 19.18122166486826
+      - 20.271305218109156
+      - 13.274309575261345
+      - 14.009155302643812
+      - 4.764187300355128
+      acceleration_limits:
+      - 118.7426430016755
+      - 165.012131490699
+      - 134.04180689399348
+      - 274.86399842805685
+      - 195.25766555964873
+      - 454.5340796113012
+      - 109.40927818565227
+      - 178.49339036295515
+      - 476.6444930964641
+      - 557.9080874526715
+      - 587.1810202100611
+      - 362.1711802492357
+      - 208.8803265352197
+      - 208.9010343469399
+      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: true
+  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: 0.105
+  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/pickbread/hydra/.hydra/hydra.yaml

@@ -0,0 +1,161 @@
+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
+    - async_inference.enabled=true
+    - policy.host=127.0.0.1
+    - policy.port=8000
+    - run.steps=20
+    - run.action_steps=30
+  job:
+    name: openpi_rollout
+    chdir: false
+    override_dirname: async_inference.enabled=true,execute=true,policy.host=127.0.0.1,policy.port=8000,run.action_steps=30,run.steps=20
+    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/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/pickbread/hydra/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- execute=true
+- async_inference.enabled=true
+- policy.host=127.0.0.1
+- policy.port=8000
+- run.steps=20
+- run.action_steps=30

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

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

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

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

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

@@ -0,0 +1,59 @@
+{
+  "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/pickbread/round_0002/camera/right_wrist_0_rgb.mp4

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

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

@@ -0,0 +1,239 @@
+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/pickbread/round_0002/debug/hydra/.hydra/hydra.yaml

@@ -0,0 +1,161 @@
+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/pickbread/round_0002/debug/hydra/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- 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/pickbread/round_0002/debug/hydra/openpi_rollout.log

@@ -0,0 +1,259 @@
+[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/pickbread/round_0002/debug/predictions/prediction_0000.npz

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

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eval/YAM/pick_bread/pickbread/round_0002/debug/predictions/prediction_0008.npz

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eval/YAM/pick_bread/pickbread/round_0002/debug/predictions/prediction_0009.npz

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eval/YAM/pick_bread/pickbread/round_0002/debug/session_rounds.json

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+}

eval/YAM/pick_bread/pickbread/round_0002/debug/validations/validation_0000.json

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eval/YAM/pick_bread/pickbread/round_0002/debug/validations/validation_0001.json

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eval/YAM/pick_bread/pickbread/round_0002/debug/validations/validation_0002.json

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

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

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

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

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

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

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

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