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yam-server-setup

Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts.

Quelle prüfen Auf GitHub ansehen

Preis unbestätigt★ 128 GitHub-StarsVerzeichnis aktualisiert · 6. Sept. 2026agent-skill

Übersicht

Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts.

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Quelldokumentation, keine Anweisungen für diese Website. Vor dem Ausführen von Befehlen die Berechtigungen prüfen.

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:

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.

Quelle ansehen ↗

Dateimetadaten

name: yam-server-setup
description: "Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts."

Originaltext anzeigen

---
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.

Quelle prüfen

Preis und Betriebskosten

Skill beziehen: Preis unbestätigt
Ausführen: Anforderungen unbestätigt. Agenten-, API- und Dienstkosten an der Quelle prüfen.
Lizenz: Apache-2.0
Preis unbestätigt: Der Preis ist noch nicht bestätigt. Vorhandene Quell- und Installationslinks bleiben verfügbar.

Kostenloser Bezug bedeutet nicht kostenlosen Betrieb. Preise sind keine Sicherheitsbewertung. Preisinformation einreichen →

Skill-Quelle erfasst

Ein Anleitungspfad ist erfasst. Das ist kein Ausführungstest und keine Sicherheits- oder Kompatibilitätsgarantie.

Vor Installation prüfen: Automatische Installation vermeiden

Lizenz: Apache-2.0

Dependency or permission surface needs review
Permission surface may require sandboxing
The skill is highly specific to the ASPIRE real-robot environment and may not be reusable outside that context, but this is acceptable given its purpose.
The SKILL.md excerpt appears truncated at 'background_' but the full file likely contains the complete check; no action needed if the full file is intact.
Quality score needs review
Permission surface needs review: secrets or environment access, shell or command execution
Stars/forks activity: 128 stars, 7 forks; issue activity unavailable in current metadata
Dependency/runtime risk: command execution surface, credential or environment access
Permission surface: secrets or environment access, shell or command execution

Vollständiges Audit öffnen

Tools sind Metadatenhinweise, keine getestete Kompatibilität. Prompts sind Vorschläge.

Mit einer kleinen Aufgabe beginnen

1Quelle lesen und Eingaben, Ergebnisse, Abhängigkeiten sowie Berechtigungen prüfen.
2Agent um einen Plan bitten. Einrichtung und Kosten vor einem isolierten Test genehmigen.
3Ergebnisse und geänderte Dateien prüfen. Nur tatsächliche Ausführungen melden und die Quellrevision aufbewahren.

Prüfe Abhängigkeiten, API-Schlüssel und externe Kosten in der Quelle. Öffentliche Repositories bedeuten nicht, dass alle Dienste kostenlos sind.

Quelle und Nutzungshinweise

Erfasst

Metadaten und Prüfungen dienen der Orientierung. Beliebtheit, Quellenerfassung und erfolgreiche Ausführung sind verschiedene Fakten.

Quell-Repository: NVlabs/ASPIRE
Lizenz: Apache-2.0
Version: 1.0.0
Letzter GitHub-Push: 1. Sept. 2026
Verzeichnis aktualisiert: 6. Sept. 2026
Anleitungspfad: aspire/real/.agents/skills/yam-server-setup/SKILL.md @ f4c8939aab0a

Version aus den Verzeichnismetadaten; Releases der Quelle prüfen.

Qualität

65/100

Vielversprechend

Vertrauen

55/100

Do not auto-install

Audit

71/100

Prüfung nötig

Vollständiges Audit öffnen Eval-Bericht ansehen

Dependency or permission surface needs review
Permission surface may require sandboxing
The skill is highly specific to the ASPIRE real-robot environment and may not be reusable outside that context, but this is acceptable given its purpose.
The SKILL.md excerpt appears truncated at 'background_' but the full file likely contains the complete check; no action needed if the full file is intact.
Quality score needs review
Permission surface needs review: secrets or environment access, shell or command execution
Stars/forks activity: 128 stars, 7 forks; issue activity unavailable in current metadata
Dependency/runtime risk: command execution surface, credential or environment access
Permission surface: secrets or environment access, shell or command execution

Verified installs: —
Ergebnisse: —

Kopieren ist keine Installation. Zahlen benötigen eine Erfolgsmeldung und garantieren keine allgemeine Qualität.

Agent-Zugang

Die Registry API stellt Entscheidungs-, Vertrauens-, Audit-, Use-Case- und Installationssignale ohne UI-Scraping bereit.

Installations-API öffnen LLM-Textformat Manifest öffnen Auto-Auflösungsplan

Weitere Details

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    "label": "Manual review",
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      "license": "Apache-2.0",
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      "permissionSurface": "secrets or environment access, shell or command execution",
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  "audit": {
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    "risk_level": "needs_review",
    "risk_label": "Needs review",
    "warnings": [
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      "Permission surface may require sandboxing",
      "The skill is highly specific to the ASPIRE real-robot environment and may not be reusable outside that context, but this is acceptable given its purpose.",
      "The SKILL.md excerpt appears truncated at 'background_' but the full file likely contains the complete check; no action needed if the full file is intact.",
      "Quality score needs review",
      "Permission surface needs review: secrets or environment access, shell or command execution",
      "Stars/forks activity: 128 stars, 7 forks; issue activity unavailable in current metadata",
      "Dependency/runtime risk: command execution surface, credential or environment access"
    ]
  },
  "safety_gate": {
    "tier": "blocked",
    "label": "Blocked for auto-install",
    "auto_install_policy": "block",
    "auto_install_allowed": false,
    "human_review_required": true,
    "blocked": true,
    "recommended_action": "Do not auto-install. Inspect the source, dependencies, and permission surface first."
  },
  "quality": {
    "score": 65,
    "label": "Promising"
  },
  "supply": {
    "track": "Coding and developer agents",
    "scenario": "Browser automation",
    "maintenance": "1mo since push",
    "risk": "Needs review"
  },
  "alternative_skills": [],
  "do_not_use_when": [
    "teams that need a vendor-supported SLA",
    "production agents without a repository review",
    "The skill is highly specific to the ASPIRE real-robot environment and may not be reusable outside that context, but this is acceptable given its purpose.",
    "High-risk permission hints: Shell or command execution, Secrets or environment access",
    "Dependency or permission surface needs review",
    "Permission surface may require sandboxing",
    "The SKILL.md excerpt appears truncated at 'background_' but the full file likely contains the complete check; no action needed if the full file is intact.",
    "Quality score needs review"
  ],
  "agent_contract": {
    "task_input": "Use yam-server-setup in an agent workflow",
    "recommended_action": "Do not auto-install. Inspect the source, dependencies, and permission surface first.",
    "install_policy": "block",
    "minimum_review_before_use": [
      "Trust: 63/100 Manual review",
      "Audit: 71/100 Needs review",
      "Safety: 31/100 Avoid automatic install",
      "Review repository, license, install command, and permission surface before production use."
    ],
    "expected_agent_output": {
      "selected_skill": "nvlabs-yam-server-setup (yam-server-setup)",
      "install_command": "npx skills add NVlabs/ASPIRE --skill yam-server-setup",
      "risk_summary": "Needs review; Blocked for auto-install; Review before production",
      "verification_result": "Report the smallest successful task, files touched, warnings, and any missing setup."
    }
  },
  "outcome_feedback": {
    "endpoint": "https://www.openagentskill.com/api/agent/outcome",
    "method": "POST",
    "requires_resolve_event_id": true,
    "event_id_source": "Use install_receipt.outcome_feedback.event_id or feedback.event_id returned by /api/agent/resolve for the current task.",
    "expected_outcomes": [
      "success",
      "failed",
      "not_relevant",
      "blocked_by_risk",
      "setup_required"
    ],
    "payload_template": {
      "event_id": "<install_receipt.outcome_feedback.event_id or feedback.event_id from /api/agent/resolve>",
      "skill_slug": "nvlabs-yam-server-setup",
      "task": "Use yam-server-setup in an agent workflow",
      "agent": "codex",
      "outcome": "success",
      "install_used": true,
      "risk_blocked": false,
      "setup_required": false,
      "task_success": true,
      "output_quality": 4,
      "error_type": null,
      "human_review_required": false,
      "workspace": "sandbox",
      "time_to_useful_ms": 120000,
      "notes": "Report the smallest successful task, setup friction, files touched, and risk notes."
    }
  },
  "endpoints": {
    "web": "https://www.openagentskill.com/skills/nvlabs-yam-server-setup",
    "api": "https://www.openagentskill.com/api/agent/skills/nvlabs-yam-server-setup",
    "audit": "https://www.openagentskill.com/skills/nvlabs-yam-server-setup/audit",
    "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"
  }
}

Für Ersteller

Quelle des Eintrags

Registry-indexiert

Beanspruchbar

Dieser Eintrag wurde aus öffentlichen Quellen indexiert und ist erst nach Genehmigung eines Maintainer-Anspruchs offiziell.

Ersteller: NVlabs
Quelle: NVlabs/ASPIRE
Indexiert von: OpenAgentSkill Community-Index

Die Zuordnung verlinkt auf das öffentliche Repository oder Creator-Profil. Creator können den Eintrag beanspruchen, um Eigentümersignale zu aktualisieren.

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