fix env

Author: i2rt-software

README.md

@@ -16,7 +16,7 @@ A Python client library for interacting with [I2RT](https://i2rt.com/) products,
 pip install -e .
 ```
 
-## CAN Usage
+## Basic CAN Usage
 Plug in the CAN device and run the following command to check the available CAN devices.
 ```bash
 ls -l /sys/class/net/can*
@@ -39,6 +39,15 @@ We have provided a convenience script to reset all CAN devices. Simply run
 sh scripts/reset_all_can.sh
 ```
 
+### See [set_persist_id_socket_can.md](doc/set_persist_id_socket_can.md) if you want to set persistent CAN device names
+
+## Test YAM Zero Gravity mode
+
+```bash
+python i2rt/robots/motor_chain_robot.py --model yam --channel can0 --operation_mode gravity_comp
+```
+
+
 ## YAM Robot Arm Usage
 
 ### Getting started

doc/set_persist_id_socket_can.md

@@ -0,0 +1,65 @@
+# Socket can is easy to use, but the default devie name is can{idx} and will vary depend on the order the device got connected to the computer. Below is the precedure of setting up persist ID for those socket CAN devices. 
+ 
+## For canable devices, goto https://canable.io/updater/ to flush its firmware to candlelight to use socketcan, YAM comes with pre-flushed candlelight firmware.
+
+
+## Step1: find sysfd paths for can devices
+
+```shell
+$ ls -l /sys/class/net/can*
+```
+
+this should  give you something liks
+```shell
+lrwxrwxrwx 1 root root 0 Jul 15 14:35 /sys/class/net/can0 -> ../../devices/platform/soc/your_can_device/can0
+lrwxrwxrwx 1 root root 0 Jul 15 14:35 /sys/class/net/can1 -> ../../devices/platform/soc/your_can_device/can1
+lrwxrwxrwx 1 root root 0 Jul 15 14:35 /sys/class/net/can2 -> ../../devices/platform/soc/your_can_device/can2
+```
+
+## Step 2: Use udevadm to Gather Attributes
+```shell
+udevadm info -a -p /sys/class/net/can0 | grep -i serial
+```
+
+## Step 3: Create udev Rules
+edit `/etc/udev/rules.d/90-can.rules`
+```shell
+sudo vim /etc/udev/rules.d/90-can.rules
+```
+add
+```
+SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="004E00275548501220373234", NAME="can_follow_l"
+SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="0031005F5548501220373234", NAME="can_follow_r"
+```
+
+IMPORTANT!!!: Name should start with can (for USB-CAN adapter) or en/eth (for EtherCAT-CAN adapter). And the maximum length limit for a CAN interface name is 13 characters.
+
+## Step 4: Reload udev Rules
+```shell
+sudo udevadm control --reload-rules && sudo systemctl restart systemd-udevd && sudo udevadm trigger
+```
+
+If needed, plug unplug the candevice to make sure the change is effective. 
+
+run the following command to set up the can device, and you need to run this command after every reboot.
+```
+sudo ip link set up can_right type can bitrate 1000000
+```
+
+## Step 5: Verify the can device
+```shell
+$ ip link show
+1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN mode DEFAULT group default qlen 1000
+    link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
+2: enp5s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP mode DEFAULT group default qlen 1000
+    link/ether d8:43:ae:b7:43:0b brd ff:ff:ff:ff:ff:ff
+5: tailscale0: <POINTOPOINT,MULTICAST,NOARP,UP,LOWER_UP> mtu 1280 qdisc fq_codel state UNKNOWN mode DEFAULT group default qlen 500
+    link/none 
+6: can_right: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
+    link/can 
+7: can_left: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
+    link/can 
+```
+
+You can see that this can device got it's name can_right/can_left
+

i2rt/robots/motor_chain_robot.py

@@ -21,6 +21,7 @@
 YAM_XML_PATH = os.path.join(I2RT_ROOT, "robot_models/yam/yam.urdf")
 ARX_XML_PATH = os.path.join(I2RT_ROOT, "robot_models/arx_r5/arx.urdf")
 
+
 @dataclass
 class JointStates:
     names: List[str]
@@ -224,7 +225,7 @@ def update(self) -> None:
 
                     joint_commands.pos[self._gripper_index] = self._gripper_force_limiter.update(gripper_state)
 
-            # add final clip so the gripper won't be over-adjusted
+                # add final clip so the gripper won't be over-adjusted
                 joint_commands.pos[self._gripper_index] = np.clip(
                     joint_commands.pos[self._gripper_index],
                     min(self._gripper_limits),
@@ -396,7 +397,7 @@ def get_yam_robot(channel: str = "can0", model_path: str = YAM_XML_PATH) -> Moto
         [0x01, "DM4340"],
         [0x02, "DM4340"],
         [0x03, "DM4340"],
-        [0x04, "DM4340"],
+        [0x04, "DM4310"],
         [0x05, "DM4310"],
         [0x06, "DM4310"],
         [0x07, "DM4310"],