Release v1.1

[nu-jliu]

Summary

Sync working-tree content from the JH_i2rt staging repo into this public release repo. Brings over the threaded mujoco control loop, viser control interface, gripper gain/limit overrides, motor-driver bus-drain fixes, minimum_gello example improvements, and unused big_yam/crank_4310 STL cleanup that have accumulated in JH_i2rt since the last release.

Changes

• examples/minimum_gello/minimum_gello.py: pull staging-repo improvements (arm-type selection, sim mode, ee_mass CLI arg, viser/visualizer fixes)
• examples/minimum_gello/README.md: update docs to match new minimum_gello CLI and arm-type options
• i2rt/motor_drivers/can_interface.py: store channel name on CanInterface and add _drain_bus() helper to flush stale frames at init
• i2rt/motor_drivers/dm_driver.py: drain bus before motor bring-up, guard against duplicate control-loop thread start, hold same_bus_device_lock during driver init
• i2rt/robots/get_robot.py: add gripper_limits_override / gripper_kp / gripper_kd parameters to get_yam_robot for per-call gripper tuning
• i2rt/robots/motor_chain_robot.py: incorporate teaching-handle support, joint log mode, and torque logging from staging
• i2rt/utils/encoder_manager.py: minor encoder manager updates from staging repo
• i2rt/utils/mujoco_control_interface.py: bring in threaded mujoco control loop, gravity-comp integration, and visualizer overhaul
• i2rt/utils/viser_control_interface.py: add viser control interface (safety gate, IK/joint/PD controls, normalized 0–1 gripper slider)
• i2rt/robot_models/arm/big_yam/assets/{finger-l-link,finger-r-link,gripper_link,joint1..joint6_link}.STL: drop unused big_yam STL meshes (cleanup performed in staging repo)
• i2rt/robot_models/gripper/crank_4310/assets/link_6_collision.stl: drop unused crank_4310 collision mesh
• tests/test_robot_variants.py: drop test that no longer matches the staging-repo robot factory signature

Test Plan

• Confirm working tree matches the staging repo (excluding gitignored files):

  diff -rq --no-dereference \
    --exclude=.git --exclude=.venv --exclude=.ruff_cache --exclude=.pytest_cache \
    --exclude=node_modules --exclude=__pycache__ --exclude='*.pyc' \
    --exclude=.claude --exclude=.vitepress \
    ../JH_i2rt .
  

  Expected: only Only in ../JH_i2rt: tests (a tests/__pycache__ artifact, untracked).
  Result: PASS — only Only in ../JH_i2rt: tests reported (untracked __pycache__ artifact only).
• uv sync succeeds (no dependency changes were synced).
  Result: PASS — Resolved 102 packages in 2ms / Checked 96 packages in 7ms, no installs.
• uv run pytest passes — confirm no test references the deleted test_robot_variants.py or removed STL files.
  Result: PASS — 260 passed, 2 skipped in 5.36s. grep over the repo found no remaining references to the deleted STL filenames or top-level tests/test_robot_variants.py. (i2rt/robots/tests/test_robot_variants.py is a separate file, unaffected.)
• uv run python -c "from i2rt.robots.get_robot import get_yam_robot; help(get_yam_robot)" shows the new gripper_limits_override, gripper_kp, gripper_kd parameters.
  Result: PASS — inspect.signature(get_yam_robot) lists all three: gripper_limits_override, gripper_kp, gripper_kd.
• Smoke-test minimum_gello in sim mode: uv run python examples/minimum_gello/minimum_gello.py --sim --arm_type yam — verify viser comes up and the arm responds to the slider.
  Result: PASS (with caveats) — actual CLI flag is --arm yam (not --arm_type yam); ran uv run python examples/minimum_gello/minimum_gello.py --sim --arm yam for ~12s, SimRobot loaded and the portal server bound to 0.0.0.0:11333. Note: minimum_gello.py does not launch a viser server — in default follower mode it only starts a portal RPC server, and in --mode visualizer_local it uses mujoco.viewer.launch_passive. The new viser_control_interface.py is used by examples/control_with_viser/, not minimum_gello.
• Edge case: with hardware connected, run dm_driver instantiation twice in the same process and confirm start_thread no longer spawns a second control loop.
  Result: SKIPPED on dev machine — no CAN hardware available. Static-analysis finding (please confirm before merge): the new guard works for the yam_real path (get_robot.py:231 passes start_thread=False then calls motor_chain.start_thread() explicitly), but it appears to break the gripper_only path (get_robot.py:103 passes start_thread=True). In dm_driver.py:452-454 the constructor sets self.start_thread_flag = start_thread before calling self.start_thread(), so the new guard if self.start_thread_flag: return (line 518) early-returns and the control-loop thread is never started on first init. Repro (no hardware needed): see the equivalence-class simulation in this PR's test thread.
• Edge case: confirm i2rt/robot_models/arm/big_yam/ and i2rt/robot_models/gripper/crank_4310/ still load in MuJoCo without the deleted STLs (no XML still references them).
  Result: PASS — loaded big_yam × {no_gripper, crank_4310, yam_teaching_handle} and {yam, yam_pro, yam_ultra} × crank_4310 via mujoco.MjModel.from_xml_path(combine_arm_and_gripper_xml(...)); all six combinations parsed successfully. No XML in the working tree references any of the deleted STL filenames.

🤖 Generated with Claude Code