Yam Geometry

Use for YAM DOF, coordinate directions, tabletop/rack/trash geometry, camera frames, gripper geometry, and contact/placement offsets.

nvlabs 2bb1ca4 4 files · 12.9 KB Updated

File contents

YAM Geometry

YAM is bimanual. Each follower arm command path uses 6 arm joints plus 1 gripper command. Left/right follower RPCs are separate.

World-frame anchors, checked against the calibrated station XML:

  • +Z: up.
  • +X: from the arm bases toward the tabletop workspace; not image-right.
  • +Y: left-arm side. -Y: right-arm side / scene-right in recent scripts.
  • Arm bases: left [0.2525, +0.31, 0.75], right [0.2525, -0.31, 0.75].
  • XML table top is 0.750 m; top-camera support/table estimates often use ~0.760 m. Keep model Z and live-depth support Z separate.
  • Trash drop gripper orientation: point along +X when the gripper should face away from the robot.

Verify against current overlays and script state before changing waypoints.

References:

  • references/yam-geometry-ground-truth.md
  • references/blue-gripper-geometry.md
  • references/multiview-camera.md

nvlabs/aspire/tree/main/aspire/real/.agents/skills/yam-geometry commit 2bb1ca4f67

Frequently asked questions

npx skillmds@latest add nvlabs/yam-geometry