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10.73633671760559, + 14.77633719921112, + 17.380879168510436, + 20.799341225624083, + 7.747032866477967, + 1.3316887146234513 + ] +} diff --git a/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7ccb9887557120e1b5aad542fde2442c9f0e506c --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,238 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Pick up the banana with the right arm and place it on the plate to the left. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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}/data + 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: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + 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 diff --git a/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3abfbcc954e08cef61054132b2bc25e7878b43d9 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${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=40 + - run.action_steps=30 + - policy.prompt="Pick up the banana with the right arm and place it on the plate + to the left." + - run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Pick + up the banana with the right arm and place it on the plate to the left.",run.action_steps=30,run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana,run.steps=40 + id: ??? + num: ??? + config_name: openpi_seven_tasks_20eps_2500 + 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/pi0_v2_v3_20eps_20000/pick_and_place_banana/metadata/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 diff --git a/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..af6cef27d8da45c1d18d8c39d1f6b4d3719af111 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Pick up the banana with the right arm and place it on the plate to + the left." +- run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana diff --git a/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..b816a6445f90d6fab52f482a59a4aae1b4707d45 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/hydra/openpi_rollout.log @@ -0,0 +1,202 @@ +[2026-09-20 22:50:06,052][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 22:50:06,054][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 22:50:06,054][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 22:50:06,054][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 22:50:06,054][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 22:50:06,054][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 22:50:06,055][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 22:50:06,055][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 22:50:06,056][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 22:50:06,057][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 22:50:06,057][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 22:50:06,057][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 22:50:06,057][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 22:50:06,057][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 22:50:06,057][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 22:50:06,057][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} +[2026-09-20 22:50:06,057][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 +[2026-09-20 22:50:06,057][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 +[2026-09-20 22:50:06,057][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:50:06,057][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:50:06,057][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:50:06,057][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:50:06,057][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:50:06,057][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:50:06,057][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:50:06,057][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:50:06,057][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:50:06,057][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:50:06,058][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 22:50:06,058][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 +[2026-09-20 22:50:06,058][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:50:06,070][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:50:06,082][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 22:50:06,093][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:50:06,104][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:50:06,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:06,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:50:06,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:50:06,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:06,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:50:06,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:50:06,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:06,191][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:50:06,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:50:06,213][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:06,224][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:50:06,234][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:50:06,245][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:06,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:50:06,266][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:50:06,277][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:06,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:50:06,288][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 22:50:06,288][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 +[2026-09-20 22:50:06,288][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:50:06,342][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 +[2026-09-20 22:50:06,396][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 +[2026-09-20 22:50:06,451][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 +[2026-09-20 22:50:06,506][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 +[2026-09-20 22:50:06,560][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 +[2026-09-20 22:50:06,613][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 +[2026-09-20 22:50:06,668][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 +[2026-09-20 22:50:06,668][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:50:06,668][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:50:06,668][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:50:06,679][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:50:06,684][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:50:06,690][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:50:06,696][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:50:06,702][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:50:06,708][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:50:06,714][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:50:06,720][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=0.0024420024420024333, 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)] +[2026-09-20 22:50:06,720][root][INFO] - current_pos: [0.0623712520027464, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0013351644159609322, 0.03032730601968403, -0.0020981155107957505] +[2026-09-20 22:50:06,720][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:50:06,720][root][INFO] - starting separate thread for control loop +[2026-09-20 22:50:06,821][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.06198977645532899, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789915806.821162), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789915806.821162), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789915806.821162), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789915806.821162), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789915806.821162), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.03032730601968403, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789915806.821162), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789915806.821162)] +[2026-09-20 22:50:06,821][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:50:06,821][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0021 +[2026-09-20 22:50:06,821][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:50:07,448][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684 +[2026-09-20 22:50:07,748][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:50:08,375][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 22:50:08,676][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.007438773174639479) +[2026-09-20 22:50:08,676][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.00743877] +[2026-09-20 22:50:08,921][root][INFO] - initializing, .... +[2026-09-20 22:50:08,923][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 +[2026-09-20 22:50:08,923][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 +[2026-09-20 22:50:08,923][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:50:08,923][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:50:08,923][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:50:08,923][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:50:08,923][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:50:08,923][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:50:08,923][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:50:08,923][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:50:08,923][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:50:08,923][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:50:08,923][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 22:50:08,923][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 +[2026-09-20 22:50:08,923][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:50:08,934][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:50:08,945][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:08,956][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:50:08,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:50:08,978][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:08,990][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:50:09,001][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:50:09,011][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:09,022][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:50:09,033][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:50:09,044][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:09,056][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:50:09,067][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:50:09,078][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:09,089][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:50:09,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:50:09,112][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:09,123][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:50:09,134][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:50:09,144][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:50:09,155][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:50:09,155][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 22:50:09,155][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 +[2026-09-20 22:50:09,156][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:50:09,210][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 +[2026-09-20 22:50:09,264][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 +[2026-09-20 22:50:09,317][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 +[2026-09-20 22:50:09,371][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 +[2026-09-20 22:50:09,425][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 +[2026-09-20 22:50:09,479][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 +[2026-09-20 22:50:09,532][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 +[2026-09-20 22:50:09,532][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:50:09,533][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:50:09,533][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:50:09,543][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:50:09,549][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:50:09,555][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:50:09,560][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:50:09,566][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:50:09,572][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:50:09,578][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:50:09,584][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=-0.04786324786324769, 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=-0.0073260073260073, 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)] +[2026-09-20 22:50:09,584][root][INFO] - current_pos: [-0.0001907377737087046, -0.0020981155107957505, 0.000953688868543523, 0.006294346532387252, 0.051308461127641536, -0.08869306477454764, -0.004386968795300206] +[2026-09-20 22:50:09,584][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:50:09,584][root][INFO] - starting separate thread for control loop +[2026-09-20 22:50:09,685][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789915809.685334), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789915809.685334), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789915809.685334), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.005912870984969842, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789915809.685334), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.051308461127641536, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789915809.685334), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.08869306477454764, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789915809.685334), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.004386968795300206, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789915809.685334)] +[2026-09-20 22:50:09,685][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:50:09,685][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-20 22:50:09,685][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:50:10,295][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 22:50:10,595][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:50:11,264][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-20 22:50:11,565][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.261501487754636, -0.011635004196227428) +[2026-09-20 22:50:11,565][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26150149 -0.011635 ] +[2026-09-20 22:50:11,705][root][INFO] - initializing, .... +[2026-09-20 22:50:18,928][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.71 Hz +[2026-09-20 22:50:21,708][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.69 Hz +[2026-09-20 22:50:25,682][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] +[2026-09-20 22:50:25,682][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] +[2026-09-20 22:50:28,931][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.04 Hz +[2026-09-20 22:50:31,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.06 Hz +[2026-09-20 22:50:36,722][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.55 iterations per second over 30.00 seconds. +[2026-09-20 22:50:36,722][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003943 s, max step_time: 0.072055 s +[2026-09-20 22:50:38,931][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.29 Hz +[2026-09-20 22:50:39,588][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.94 iterations per second over 30.00 seconds. +[2026-09-20 22:50:39,588][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003969 s, max step_time: 0.070149 s +[2026-09-20 22:50:41,711][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.87 Hz +[2026-09-20 22:50:48,934][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.83 Hz +[2026-09-20 22:50:51,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.21 Hz +[2026-09-20 22:50:57,126][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] +[2026-09-20 22:50:57,126][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] +[2026-09-20 22:50:58,934][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.70 Hz +[2026-09-20 22:51:01,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.12 Hz +[2026-09-20 22:51:06,724][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.98 iterations per second over 30.00 seconds. +[2026-09-20 22:51:06,724][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003984 s, max step_time: 0.023653 s +[2026-09-20 22:51:08,937][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.92 Hz +[2026-09-20 22:51:09,588][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.67 iterations per second over 30.00 seconds. +[2026-09-20 22:51:09,588][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003974 s, max step_time: 0.019331 s +[2026-09-20 22:51:11,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.06 Hz +[2026-09-20 22:51:18,938][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.18 Hz +[2026-09-20 22:51:21,725][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 +[2026-09-20 22:51:28,941][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.43 Hz +[2026-09-20 22:51:31,725][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 +[2026-09-20 22:51:33,888][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] +[2026-09-20 22:51:33,888][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] +[2026-09-20 22:51:36,724][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.13 iterations per second over 30.00 seconds. +[2026-09-20 22:51:36,724][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004014 s, max step_time: 0.021532 s +[2026-09-20 22:51:38,943][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.64 Hz +[2026-09-20 22:51:39,591][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.90 iterations per second over 30.00 seconds. +[2026-09-20 22:51:39,591][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004002 s, max step_time: 0.021804 s +[2026-09-20 22:51:41,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.80 Hz +[2026-09-20 22:51:48,945][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.27 Hz +[2026-09-20 22:51:51,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.70 Hz +[2026-09-20 22:51:58,946][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.15 Hz +[2026-09-20 22:52:01,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.92 Hz +[2026-09-20 22:52:06,224][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] +[2026-09-20 22:52:06,224][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] +[2026-09-20 22:52:06,727][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.41 iterations per second over 30.00 seconds. +[2026-09-20 22:52:06,727][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004058 s, max step_time: 0.039466 s +[2026-09-20 22:52:08,916][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.37 iterations per second over 29.32 seconds. +[2026-09-20 22:52:08,922][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.33 iterations per second over 2.19 seconds. diff --git a/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/rounds.json b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..ca6d457d8b6ec50b26569c78319d0694574245ea --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/rounds.json @@ -0,0 +1,147 @@ +{ + "rounds": [ + { + "actions_sent": 876, + "chunks": 29, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0006", + "reviewed_at_ns": 1789915323168257366, + "round_number": 6, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 1090, + "chunks": 36, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0007", + "reviewed_at_ns": 1789915370069717915, + "round_number": 7, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 723, + "chunks": 24, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0008", + "reviewed_at_ns": 1789915413295427884, + "round_number": 8, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 607, + "chunks": 20, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0009", + "reviewed_at_ns": 1789915440180591231, + "round_number": 9, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 607, + "chunks": 20, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0010", + "reviewed_at_ns": 1789915474470592592, + "round_number": 10, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 651, + "chunks": 21, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0011", + "reviewed_at_ns": 1789915514268367005, + "round_number": 11, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 528, + "chunks": 17, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0013", + "reviewed_at_ns": 1789915579597965344, + "round_number": 13, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 368, + "chunks": 12, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0014", + "reviewed_at_ns": 1789915825691543076, + "round_number": 14, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 379, + "chunks": 12, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0015", + "reviewed_at_ns": 1789915857134087106, + "round_number": 15, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 560, + "chunks": 18, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0016", + "reviewed_at_ns": 1789915893895161412, + "round_number": 16, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 676, + "chunks": 22, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_banana/data/round_0017", + "reviewed_at_ns": 1789915926233481445, + "round_number": 17, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + } + ] +} diff --git a/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/runtime/output.lock b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_banana/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391