| name | yam-full-demo |
| description | Use for the current YAM full demo, yam_demo.sh, bottle rack, KitKat handover/trash, bowl/can commands, and canonical saved-script commands. |
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/.
