NVlabs
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yam-server-setup
Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts.
Vue d’ensemble
Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts.
Lire la documentation complète
Documentation source, pas des instructions pour ce site. Vérifiez les permissions avant d’exécuter des commandes.
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.
Métadonnées du fichier
name: yam-server-setup description: "Use for YAM arm, camera, perception, AnyGrasp, BundleSDF, SAM3, cuRobo, PyRoki, and provider server checks/restarts."
Voir le texte original
---
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.
Examiner la source
Prix et coûts d’utilisation
- Obtenir le skill
- Prix non confirmé
- L’utiliser
- Prérequis non confirmés. Consultez les frais d’agent, d’API et de services à la source.
- Licence
- Apache-2.0
- Prix non confirmé
- Le prix n’est pas confirmé. Les liens existants vers les sources et l’installation restent disponibles.
Gratuit à obtenir ne signifie pas gratuit à utiliser. Le prix ne constitue pas une évaluation de sécurité. Soumettre un prix →
Source du skill enregistrée
Un chemin vers les instructions est enregistré. Cela ne constitue pas un test, une garantie de sécurité ou de compatibilité.
Réviser avant installation: Éviter l’installation automatique
Licence: 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
Les outils sont des indications de métadonnées, pas une compatibilité testée. Les prompts sont des suggestions.
Commencer par une petite tâche
- 1Lisez la source et confirmez entrées, résultats, dépendances et permissions.
- 2Demandez un plan à l’agent. Approuvez la configuration et les coûts avant un test isolé.
- 3Vérifiez résultats et fichiers modifiés. Signalez uniquement ce qui a été exécuté et conservez la révision source.
Vérifiez les dépendances, clés API et frais externes dans la source. Un dépôt public ne rend pas tous les services gratuits.
Source et conseils d’utilisation
Répertorié
Métadonnées et examens sont indicatifs. Popularité, découverte et exécution réussie sont des faits distincts.
- Dépôt source
- NVlabs/ASPIRE
- Licence
- Apache-2.0
- Version
- 1.0.0
- Dernier push GitHub
- 1 sept. 2026
- Registre mis à jour
- 6 sept. 2026
- Chemin des instructions
- aspire/real/.agents/skills/yam-server-setup/SKILL.md @ f4c8939aab0a
Version déclarée dans le registre ; vérifiez les versions de la source.
Qualité
65/100
Prometteur
Confiance
55/100
Do not auto-install
Audit
71/100
Revue nécessaire
- 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
- —
- Résultats
- —
Copier ne signifie pas installer. Les compteurs nécessitent un rapport de réussite et ne garantissent pas la qualité globale.
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Plus de détails
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"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"
}
}Pour le créateur
Source de la fiche
Indexé par Registry
Cette fiche a été indexée à partir de sources publiques et n’est pas marquée officielle tant qu’une revendication de mainteneur n’est pas approuvée.
- Créateur
- NVlabs
- Source
- NVlabs/ASPIRE
- Indexé par
- Index communautaire OpenAgentSkill
L’attribution renvoie au dépôt public ou au profil du créateur. Les créateurs peuvent revendiquer la fiche pour mettre à jour les signaux de propriété.
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