Yam Server Setup

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.