Yam Full Demo

YAM Full Demo

Run this skill from the Aspire real-robot workspace (aspire/real). Paths and commands below are relative to that directory.

Canonical commands:

bash tools/yam_demo_preflight.sh
bash tmux/launch_yam_demo_services.sh --no-attach
bash tools/yam_demo_preflight.sh --services
bash cap/saved_scripts/yam_demo.sh full
bash cap/saved_scripts/yam_demo.sh bowls
bash cap/saved_scripts/yam_demo.sh bottle-rack
bash cap/saved_scripts/yam_demo.sh kitkat
bash cap/saved_scripts/yam_demo.sh drawer
bash cap/saved_scripts/yam_demo.sh drawer-close
bash cap/saved_scripts/yam_demo.sh drawer-candy
bash cap/saved_scripts/yam_demo.sh home

The demo launcher starts only both follower arms, the camera Portal, SAM3, and BundleSDF. Do not require AnyGrasp, cuRobo, PyRoki, or provider credentials for these saved-script commands.

Flow:

• yam_demo.sh is the preferred dispatcher for full, bowls, white-dish, orange-on-white, can-trash, kitkat, bottle-rack, drawer, drawer-close, drawer-candy, and home.
• yam_demo.sh full -> drawer-close/home, white-dish, orange-on-white, can-trash, KitKat, bottle-rack

Speed:

• Use YAM_FULL_DEMO_SPEED_SCALE as the operator-facing full-demo speed knob. 1.0 preserves validated defaults, values above 1.0 speed up planned moves and shorten direct step durations, values below 1.0 slow them down.
• The scale feeds home, drawer planning, rack dish/bowl planning and direct rack timing, can/trash planning, KitKat planning, and bottle-rack planning.
• Task-specific low-level OPENFORGE_*_PLANNING_SPEED, *_STEP_S, *_PLAYBACK_SPEED, and OPENFORGE_OPEN_HOME_SPEED_RAD_S env overrides are still available for focused debugging.

Top-level cap/saved_scripts/yam_demo.sh is the operator shell entrypoint. Helper shells live under cap/saved_scripts/shell_scripts/; active Python task implementations live at top level. Older probes, sweeps, alternates, and retired shell flows live under cap/saved_scripts/legacy_codes/.