NVlabs
Registry indexed
yam-server-setup
Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts.
Registry indexed
Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts.
Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts.
Source documentation, not instructions for this website. Review permissions before running any commands.
Run these checks and launch commands from the Aspire real-robot workspace
(aspire/real). Paths below are relative to that directory.
Process check:
pgrep -af 'run_script.py|ffmpeg|cap.debug_ui.app|arm_server|serve_bundlesdf|serve_real_yam_camera_portal|serve_anygrasp|serve_sam3|follower|curobo|pyroki'
Process presence is only liveness. Before physical demos, verify readiness.
Health/readiness check:
curl -fsS --max-time 3 http://127.0.0.1:6767/health # SAM3
curl -fsS --max-time 3 http://127.0.0.1:8119/health # BundleSDF
curl -fsS --max-time 3 http://127.0.0.1:9600/health # PyRoki
curl -fsS --max-time 3 http://127.0.0.1:8765/health # provider
curl -fsS --max-time 3 http://127.0.0.1:8122/health # AnyGrasp if needed
Portal services are not HTTP health servers; plain curl may reset. Check them
through Portal RPC:
uv run python -c "import portal; print(portal.Client('127.0.0.1:8611').health_check().result(timeout=5))"
uv run python -c "import portal, numpy as np; c=portal.Client('127.0.0.1:8300'); print(c.health().result(timeout=3)); [print(cam, np.asarray(c.get_camera_image(cam).result(timeout=3)).shape) for cam in ['top','left','right','bottom']]"
Arm servers must be healthy, not just connectable. connected=True is
insufficient if the send loop died. Do not run physical motion unless each arm
has send_thread_alive=True and background_error=None:
uv run python -c "import portal, sys; ok=True
for side,port in [('left',11333),('right',11334)]:
h=portal.Client(f'127.0.0.1:{port}').get_health().result(timeout=5)
print(side, h)
ok = ok and bool(h.get('connected')) and bool(h.get('send_thread_alive')) and h.get('background_error') is None
sys.exit(0 if ok else 2)"
BundleSDF and recorder readiness are required before physical debugging runs. Do not start a physical run without video evidence unless the task is explicitly about fixing recording. The command may return success while the run is undebuggable if preview videos are corrupt or missing. Always use the Python preview recorder backend for real runs unless testing the recorder itself:
export OPENFORGE_PREVIEW_RECORDER_BACKEND=python
export OPENFORGE_PREVIEW_RECORDER_PROBE_TIMEOUT_S=8.0
export OPENFORGE_PREVIEW_RECORDER_REENCODE_H264=1
Check BundleSDF health and preview-camera availability:
curl -fsS --max-time 3 http://127.0.0.1:8119/health
The /health response should be status=ok and should list usable preview
cameras such as top, left, right, and bottom. If BundleSDF is unhealthy
or previews are unavailable, fix/restart it before physical motion.
Probe BundleSDF previews before launching long physical runs:
OPENFORGE_PREVIEW_RECORDER_PROBE_TIMEOUT_S=8.0 uv run python -c "from cap.agent.recorder import PreviewStreamRecorder; from pathlib import Path; out=Path('/tmp/yam_preview_probe'); out.mkdir(exist_ok=True); r=PreviewStreamRecorder('http://127.0.0.1:8119',['top','left','right','bottom'],out); r._preflight_preview_streams(); print('preview_preflight_ok')"
After every real run, inspect logs/<run>/preview_recording_result.json.
Accept the videos only when each needed camera has ok=true,
ffprobe.ok=true, nonzero duration_s, nonzero nb_frames, and
backend="python". Current preview MP4s should also report
ffprobe.codec_name="h264" and ffprobe.pix_fmt="yuv420p". The Python
preview recorder writes a temporary OpenCV MP4, preserves it as
<camera>.pre_h264.mp4, and makes <camera>.mp4 the H.264 evidence file by
default. If MP4s are tiny, use mp4v/non-H.264 unexpectedly, or ffprobe
reports moov atom not found, treat the run as missing video evidence even if
robot motion happened.
Mock AnyGrasp may satisfy integration health checks but is not safe for
physical grasp selection. If /health says mock=true or
safe_for_robot_motion=false, only run tasks that do not use AnyGrasp for
physical planning.
Arm servers from the repo root:
source .forge_env
uv run python robot/yam/arm_server.py --mode follower --side left # :11333
uv run python robot/yam/arm_server.py --mode follower --side right # :11334
Canonical saved-demo launcher:
bash tools/yam_demo_preflight.sh
bash tmux/launch_yam_demo_services.sh --no-attach
bash tools/yam_demo_preflight.sh --services
It starts both follower arms, the camera Portal :8300, SAM3 :6767, and
BundleSDF :8119. These are the services used by yam_demo.sh full.
The broader development launcher is:
bash tmux/launch_realworld_localserver_realsense.sh
It additionally starts AnyGrasp, cuRobo, PyRoki, and optional provider panes. Those additional services are not required by the canonical saved demo.
Common real-run env:
YAM_STATION_CALIBRATED_XML=/path/to/calibrated/station.xml
CAP_TOP_CAMERA_BACKEND=realsense
CAP_TOP_CAMERA_FRAME=top_camera_d405
CAP_TOP_CAMERA_NEEDS_OPTICAL_FLIP=0
OPENFORGE_ALLOW_PHYSICAL_MOTION=1
AnyGrasp is only needed for scripts that explicitly use it. Mock/synthetic AnyGrasp is not safe for physical grasp selection.
name: yam-server-setup description: "Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts."
---
name: yam-server-setup
description: "Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts."
---
# YAM Server Setup
Run these checks and launch commands from the Aspire real-robot workspace
(`aspire/real`). Paths below are relative to that directory.
Process check:
```bash
pgrep -af 'run_script.py|ffmpeg|cap.debug_ui.app|arm_server|serve_bundlesdf|serve_real_yam_camera_portal|serve_anygrasp|serve_sam3|follower|curobo|pyroki'
```
Process presence is only liveness. Before physical demos, verify readiness.
Health/readiness check:
```bash
curl -fsS --max-time 3 http://127.0.0.1:6767/health # SAM3
curl -fsS --max-time 3 http://127.0.0.1:8119/health # BundleSDF
curl -fsS --max-time 3 http://127.0.0.1:9600/health # PyRoki
curl -fsS --max-time 3 http://127.0.0.1:8765/health # provider
curl -fsS --max-time 3 http://127.0.0.1:8122/health # AnyGrasp if needed
```
Portal services are not HTTP health servers; plain `curl` may reset. Check them
through Portal RPC:
```bash
uv run python -c "import portal; print(portal.Client('127.0.0.1:8611').health_check().result(timeout=5))"
uv run python -c "import portal, numpy as np; c=portal.Client('127.0.0.1:8300'); print(c.health().result(timeout=3)); [print(cam, np.asarray(c.get_camera_image(cam).result(timeout=3)).shape) for cam in ['top','left','right','bottom']]"
```
Arm servers must be healthy, not just connectable. `connected=True` is
insufficient if the send loop died. Do not run physical motion unless each arm
has `send_thread_alive=True` and `background_error=None`:
```bash
uv run python -c "import portal, sys; ok=True
for side,port in [('left',11333),('right',11334)]:
h=portal.Client(f'127.0.0.1:{port}').get_health().result(timeout=5)
print(side, h)
ok = ok and bool(h.get('connected')) and bool(h.get('send_thread_alive')) and h.get('background_error') is None
sys.exit(0 if ok else 2)"
```
BundleSDF and recorder readiness are required before physical debugging runs.
Do not start a physical run without video evidence unless the task is explicitly
about fixing recording. The command may return success while the run is
undebuggable if preview videos are corrupt or missing. Always use the Python
preview recorder backend for real runs unless testing the recorder itself:
```bash
export OPENFORGE_PREVIEW_RECORDER_BACKEND=python
export OPENFORGE_PREVIEW_RECORDER_PROBE_TIMEOUT_S=8.0
export OPENFORGE_PREVIEW_RECORDER_REENCODE_H264=1
```
Check BundleSDF health and preview-camera availability:
```bash
curl -fsS --max-time 3 http://127.0.0.1:8119/health
```
The `/health` response should be `status=ok` and should list usable preview
cameras such as `top`, `left`, `right`, and `bottom`. If BundleSDF is unhealthy
or previews are unavailable, fix/restart it before physical motion.
Probe BundleSDF previews before launching long physical runs:
```bash
OPENFORGE_PREVIEW_RECORDER_PROBE_TIMEOUT_S=8.0 uv run python -c "from cap.agent.recorder import PreviewStreamRecorder; from pathlib import Path; out=Path('/tmp/yam_preview_probe'); out.mkdir(exist_ok=True); r=PreviewStreamRecorder('http://127.0.0.1:8119',['top','left','right','bottom'],out); r._preflight_preview_streams(); print('preview_preflight_ok')"
```
After every real run, inspect `logs/<run>/preview_recording_result.json`.
Accept the videos only when each needed camera has `ok=true`,
`ffprobe.ok=true`, nonzero `duration_s`, nonzero `nb_frames`, and
`backend="python"`. Current preview MP4s should also report
`ffprobe.codec_name="h264"` and `ffprobe.pix_fmt="yuv420p"`. The Python
preview recorder writes a temporary OpenCV MP4, preserves it as
`<camera>.pre_h264.mp4`, and makes `<camera>.mp4` the H.264 evidence file by
default. If MP4s are tiny, use `mp4v`/non-H.264 unexpectedly, or ffprobe
reports `moov atom not found`, treat the run as missing video evidence even if
robot motion happened.
Mock AnyGrasp may satisfy integration health checks but is not safe for
physical grasp selection. If `/health` says `mock=true` or
`safe_for_robot_motion=false`, only run tasks that do not use AnyGrasp for
physical planning.
Arm servers from the repo root:
```bash
source .forge_env
uv run python robot/yam/arm_server.py --mode follower --side left # :11333
uv run python robot/yam/arm_server.py --mode follower --side right # :11334
```
Canonical saved-demo launcher:
```bash
bash tools/yam_demo_preflight.sh
bash tmux/launch_yam_demo_services.sh --no-attach
bash tools/yam_demo_preflight.sh --services
```
It starts both follower arms, the camera Portal `:8300`, SAM3 `:6767`, and
BundleSDF `:8119`. These are the services used by `yam_demo.sh full`.
The broader development launcher is:
```bash
bash tmux/launch_realworld_localserver_realsense.sh
```
It additionally starts AnyGrasp, cuRobo, PyRoki, and optional provider panes.
Those additional services are not required by the canonical saved demo.
Common real-run env:
```bash
YAM_STATION_CALIBRATED_XML=/path/to/calibrated/station.xml
CAP_TOP_CAMERA_BACKEND=realsense
CAP_TOP_CAMERA_FRAME=top_camera_d405
CAP_TOP_CAMERA_NEEDS_OPTICAL_FLIP=0
OPENFORGE_ALLOW_PHYSICAL_MOTION=1
```
AnyGrasp is only needed for scripts that explicitly use it. Mock/synthetic
AnyGrasp is not safe for physical grasp selection.
Skill source recorded
Skill instructions are recorded. This is not a runtime test, safety guarantee or compatibility certification.
Review before install: Avoid automatic install
License: Apache-2.0
Listed tools are metadata hints, not tested compatibility. Agent prompts are suggested handoffs.
Repository metadata and review signals are advisory. Popularity, source discovery and successful execution are different facts.
Version reported in registry metadata; check source releases before relying on it.
Quality
68/100
Promising
Trust
56/100
This page exposes the same decision, trust, audit, use-case, and install signals through the Registry API, so agents can rank this skill without scraping the UI.
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"notice": "Publication, static checks, AI review, and creator verification are independent facts. None guarantees runtime safety."
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"eval": "https://www.openagentskill.com/api/agent/evals?slug=nvlabs-yam-server-setup&task=Use%20yam-server-setup%20in%20an%20agent%20workflow&max_risk=medium",
"resolve": "https://www.openagentskill.com/api/agent/resolve?task=Use%20yam-server-setup%20in%20an%20agent%20workflow&agent=codex&max_risk=medium",
"receipt": "https://www.openagentskill.com/api/agent/receipt?task=Use%20yam-server-setup%20in%20an%20agent%20workflow&agent=codex&max_risk=medium&format=text",
"install": "https://www.openagentskill.com/api/skills/nvlabs-yam-server-setup/install",
"manifest": "https://www.openagentskill.com/api/registry/manifest/nvlabs-yam-server-setup"
}
}Listing source
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74/100
Needs review
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