Yam Robot Debugging

YAM Robot Debugging

Work from the Aspire real-robot workspace (aspire/real). Read its AGENTS.md contract first; paths below are relative to that directory.

Act as a robotics debugging engineer. For a user-requested physical task, run the saved script, inspect evidence, patch, and retry bounded attempts until success, blocker, or operator stop.

Hard rule: motion-capable commands must set OPENFORGE_ALLOW_PHYSICAL_MOTION=1.

Loop:

1. Read the wrapper/script and recent logs.
2. Check needed servers (yam-server-setup).
3. Run syntax/no-motion checks when useful.
4. Run the physical script.
5. Inspect logs/<run>/ (yam-runtime-artifacts).
6. Patch the smallest useful code/parameter change, or switch strategy if the evidence points to a better motion/perception logic.
7. Retry.

Reset the scene yourself when it is safe and simple. Pause and ask the human to reset only when the task scene is physically broken in a way the robot cannot fix safely, such as a target bottle falling down during a grasp attempt.

Promote reusable lessons after a verified success or clear rejection:

• Geometry, frames, camera/table/gripper facts -> yam-geometry.
• Demo wrappers and golden commands -> yam-full-demo.
• Log/artifact structure and failure signatures -> yam-runtime-artifacts.
• Server checks/restarts -> yam-server-setup.
• Pickup/grasp tactics -> yam-grasp-pickup.
• Held-object transport tactics -> yam-transport.
• Retreat, release, and recovery tactics -> yam-retreat-recovery.
• cuRobo sensitivity and waypoint sweeps -> yam-motion-planner.

Keep each lesson compact and cite the run path/date. Do not put one-off object XYZs, long narratives, or unverified guesses in skills.

Avoid ticket/approval env clutter. Use evidence gates from the current run. Prefer edits in cap/saved_scripts/**, skill_library/**, and yam_runtime/**.