Yam Runtime Artifacts

YAM Runtime Artifacts

Run artifact commands from the Aspire real-robot workspace (aspire/real). All logs/** paths below are relative to that directory.

Runs write to logs/<script_name>_<YYYYMMDDTHHMMSS>/.

Artifact inspection rule: tool return is not success. For physical debugging, the two highest-value evidence sources are:

1. debug_events.jsonl: what the robot was commanded to do, in order, with timestamps, arguments, durations, and errors.
2. Video frames from top.mp4, left.mp4, right.mp4, and bottom.mp4: what physically happened before, during, and after those commands.

Do not infer contact, grasp, drawer motion, collision, or success from JSON alone. Align command windows from debug_events.jsonl with extracted video frames. If videos are missing or corrupt, treat the run as weak evidence unless the task is specifically recorder debugging.

Core workflow:

1. Validate recorder output:

   python3 -m json.tool logs/<run>/preview_recording_result.json
   

   Each needed camera should have ok=true, ffprobe.ok=true, nonzero duration_s, nonzero nb_frames, backend="python", codec_name="h264", and pix_fmt="yuv420p".

2. Read the robot-command chronology:

   rg -n 'tool_start|tool_end|freespace_move|servo_ee_delta|set_gripper|get_robot_state' logs/<run>/debug_events.jsonl
   

   Use this to identify the exact windows for approach, close, contact, push, pull, release, retreat, and failures. Prefer actual tool arguments over script labels when deciding motion direction.

3. Extract frames around those windows:

   mkdir -p /tmp/yam_frames
   for cam in top left right bottom; do
     for t in 0 10 20 30 40 50 60 70 80; do
       ffmpeg -hide_banner -loglevel error -y -ss "$t" \
         -i "logs/<run>/${cam}.mp4" -frames:v 1 \
         "/tmp/yam_frames/${cam}_${t}.jpg"
     done
   done
   

   Then inspect the relevant frames or make contact sheets. Always include frames before, during, and after the motion; a single final frame often hides whether contact was useful, transient, or accidental.

4. Answer the physical question from the paired evidence:

   • Did the gripper actually reach the target, or only the planned pose?
   • Did the fingers capture the object/handle, or slide along it?
   • Did the object move relative to fixed scene features?
   • Did the gripper open before retreat or while still engaged?
   • Did the final state persist after release?

Supporting artifacts:

• result.json: final reward/success packet from run_script.py. It may wrap script details under details or info. Treat it as an index, not proof.
• stage_summary.md: human-readable summary written by scripts that call write_stage_summary. Useful for compact config, final state, and why_stopped, but still verify against debug_events.jsonl and videos.
• task_result.json: some older scripts write their own result packet here. Compare with result.json if both exist.
• exec.log: process-level stdout/stderr and Python exceptions. Use this for import errors, uncaught tracebacks, and recorder startup/shutdown messages.
• run_<script>_<timestamp>.txt: dashboard/tool-call transcript. It often includes sampled robot state before/after tool calls, in-flight tool status, and final concise state even when result.json is sparse.
• profiling.json: summarized tool timings and per-call results. Useful for confirming which motion-capable tools actually ran and whether tool errors occurred.
• episode_config.json: resolved run configuration such as env, robot mode, recording/debug UI settings, and script file.
• code.py and code_snapshot.json: copy of the executed script/source provenance. Use this to match artifacts to the code version that actually ran.

Video and recorder artifacts:

• top.mp4, left.mp4, right.mp4, bottom.mp4: BundleSDF preview videos. Primary physical evidence for contact, scene reset, object motion, grasp failure, and collision risk. Current runs should leave these root MP4s encoded as H.264 with yuv420p pixel format.
• <camera>.pre_h264.mp4: original OpenCV/Python preview-recorder output preserved before H.264 re-encode. Use it only for recorder debugging or to recover evidence if the root H.264 file is missing.
• <camera>.h264_reencode.log: ffmpeg stderr from the Python recorder's H.264 post-encode step. Empty is normal; nonempty output can explain codec or finalization failures.
• preview_recording_preflight.json: preview availability before the run. Use it to prove BundleSDF preview streams were reachable at launch.
• preview_recording_result.json: recorder result after the run. A video is usable only if the camera entry has ok=true, ffprobe.ok=true, nonzero duration_s, nonzero nb_frames, a sane size, codec_name="h264", and pix_fmt="yuv420p". Prefer backend="python" for current real runs.
• <camera>.preview_probe.log: per-camera probe diagnostics.
• <camera>.preview_recorder.log: per-camera recorder diagnostics. If MP4s are 48 bytes, missing, or ffprobe reports moov atom not found, inspect this log and treat the run as lacking visual evidence.
• observations/: raw or serialized camera/RGB-D/robot observations captured by the script. Use this for exact images, depth, masks, and robot state at named stages.
• vis/observations/: rendered observation images, overlays, and contact sheets. Use these before guessing from raw arrays.
• SAM3 or detector overlays: usually under vis/, observations/, or detector-specific subdirectories. Check selected masks/bboxes against the actual target; false positives can make an otherwise valid plan irrelevant.
• BundleSDF/object pose outputs: use these to compare perceived object pose, preview camera evidence, and any target pose used by the motion planner.
• plans/: candidate poses, waypoint previews, planner packets, failed IK/RRT details, and selected trajectory summaries.
• Planner preview images/videos: use these to check approach direction, clearance, tool orientation, and whether the gripper is aimed at the selected object or a false-positive mask.
• Function-call JSON: some scripts write attempted tool calls, parameters, and per-stage results. These are the bridge between perception/plans and robot motion.

Common conclusions:

• Command success but bad/missing videos: not enough evidence for physical debugging; repair recorder/BundleSDF and repeat or run an observe-only check.
• Valid videos but no object motion: inspect contact geometry, gripper state, target pose, and plan direction before changing perception.
• Video shows target reached but no capture: change approach/orientation/close sequencing before increasing travel distance.
• JSON says gripper closed but video shows sliding: treat it as a contact geometry problem, not a planner success.
• Planner success but visual miss: inspect selected detector/SAM3 mask and BundleSDF pose; the plan may have followed a false target.
• Gripper target differs from measured gripper position: likely contact or obstruction. Correlate with video before deciding whether it was useful contact.
• Robot state in result.json absent or sparse: use run_*.txt, debug_events.jsonl, and profiling.json for the actual final state and tool sequence.