# NVIDIA ASPIRE: Real YAM home motion program

Real YAM home motion program. Pinned upstream source; source reviewed only, without Hub execution evidence.

ID: `aspire-yam-go-home`

Record version: `source-91fc4133f92a30a62705d716484fda6acce56707d3752952565afedeb6d853cb`

Hub commit: `b3d0fdad987427ec60ef73c982955d86e2943470`

## Access

Read the exact source with its upstream setup and adjacent dependencies. This reference neither installs an agent instruction bundle nor authorizes code or physical motion.

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source aspire-yam-go-home --expected-source-revision fa00f0ef2bc1d91d594b9aa502c22133c9f538f7 --expected-source-sha256 91fc4133f92a30a62705d716484fda6acce56707d3752952565afedeb6d853cb --project ./experiment --json`. This verifies one file, preserves provenance and never installs or runs it. See [source-file retrieval](https://hub.superfastrobotics.com/source-files.md).

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/NVlabs/ASPIRE/blob/fa00f0ef2bc1d91d594b9aa502c22133c9f538f7/README.md

## Source and license

- Repository: https://github.com/NVlabs/ASPIRE
- Pinned source: https://github.com/NVlabs/ASPIRE/blob/fa00f0ef2bc1d91d594b9aa502c22133c9f538f7/examples/yam_real/go_home.py
- Revision: `fa00f0ef2bc1d91d594b9aa502c22133c9f538f7`
- Path: `examples/yam_real/go_home.py`
- Source SHA256: `91fc4133f92a30a62705d716484fda6acce56707d3752952565afedeb6d853cb`
- Source bytes: 19
- Original authors: NVIDIA CORPORATION & AFFILIATES, ASPIRE contributors
- License: [Apache-2.0](https://github.com/NVlabs/ASPIRE/blob/fa00f0ef2bc1d91d594b9aa502c22133c9f538f7/LICENSE)
- License scope: Selected first-party source/instruction text only, under its pinned license and author notices. Preserve upstream attribution. Referenced runtimes, third-party components, model weights, data, firmware and hardware retain their own terms.

License SHA256: `4f321b887d0350e672e06c8a8bc85cff17ee2d1f3c360617079041ceee324c81`

## Artifact

```json
{
  "kind": "source_code",
  "format": "python",
  "role": "upstream-program"
}
```

## Requirements

```json
{
  "python": "Use the pinned pyproject and benchmark-specific environments; BEHAVIOR uses Python 3.11.",
  "packages": [
    "ASPIRE cap-harness from this exact checkout",
    "Benchmark/provider extras, submodules and assets under separate terms"
  ],
  "display": "Simulation provider stack requires NVIDIA CUDA, perception/planner services and gated SAM3 access. Real YAM needs station calibration, CAN motor servers, cameras and matching hardware; --allow-motion is an upstream actuation interlock. No GPU, weights, provider or robot was provisioned.",
  "execution_domain": "real_robot"
}
```

## Invocation

```json
{
  "entrypoint": "examples/yam_real/go_home.py",
  "notes": "CAP program fragment requires the pinned cap-harness runner and its injected API; it is not a standalone Python script."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Verified SHA-256, byte count, Git blob, reviewed operation anchors and source license. Parsed Python as AST or inspected native/instruction entry documents; no upstream instructions or code executed.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.