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yam-server-setup

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

查看并核实来源在 GitHub 查看

价格未确认★ 128 GitHub Stars目录更新于 · 2026年9月6日agent-skill

概览

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

展开完整说明

以下为来源文档，不是本网站的操作指令。执行命令前请先核实权限。

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.

查看来源 ↗

文件元数据

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

查看原始文本

---
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.

查看并核实来源

获取价格与运行成本

获取 Skill: 价格未确认
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许可证: Apache-2.0
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已记录技能来源

已记录技能指令路径，不代表本站运行测试、安全保证或兼容性认证。

安装前审查: 避免自动安装

许可证: 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

打开完整审计

工具列表来自元数据，并非已测试的兼容性；Agent 提示词是建议的交接方式。

从一个小任务开始

1阅读来源，确认输入、预期输出、依赖和权限。
2先让 Agent 提出计划，批准环境配置和费用，再进行隔离的小规模测试。
3检查输出和变更文件，只报告实际执行结果，并保留来源版本以便复现。

请在来源中核实依赖、API 密钥及第三方费用。公开仓库不代表所有服务免费。

来源与使用须知

已收录

仓库元数据和审核信号仅供参考。受欢迎、已发现来源、成功运行是不同的事实。

来源仓库: NVlabs/ASPIRE
许可证: Apache-2.0
版本: 1.0.0
最近 GitHub 推送: 2026年9月1日
目录更新于: 2026年9月6日
技能指令路径: aspire/real/.agents/skills/yam-server-setup/SKILL.md @ f4c8939aab0a

版本来自目录元数据，使用前请核实来源发布记录。

质量

65/100

有潜力

信任

55/100

Do not auto-install

审计

71/100

需审查

打开完整审计查看评估报告

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: —
结果: —

复制不等于安装。安装数需有成功安装回报，不代表全面的质量保证。

Agent 接入

本页通过 Registry API 提供相同的决策、信任、审计、场景和安装信号，让 Agent 无需抓取界面即可排序。

打开安装 API LLM 文本格式打开 Manifest 自动解析计划

更多详情

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  },
  "audit": {
    "score": 71,
    "risk_level": "needs_review",
    "risk_label": "Needs review",
    "warnings": [
      "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"
    ]
  },
  "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"
  }
}

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此列表来自公开来源，维护者认领获批前不会标记为官方。

创作者: NVlabs
来源: NVlabs/ASPIRE
收录方: OpenAgentSkill 社区索引

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