# What this suite supports

## What this suite supports

**30 scripted bimanual manipulation tasks** on the YAM arm in Isaac Lab, built on RoboTwin 2.0
assets. Not a policy — every task ships a scripted solver, so it produces demonstrations and a
pass/fail signal you can trust.

| capability | what it means |
|---|---|
| **Skill families** | pick-and-place · multi-object · stacking · sorting · insertion · pushing (single and relay) · bimanual lift · handover · tool use (sweep, wipe) · pouring · constrained pull · articulated fixtures · deformable chain |
| **Both arms** | either arm alone, or both on one motion profile (`move_both`) — driving them in sequence parks the first in the second's path |
| **Randomization** | every object, fixture, container and marker takes `xy_jitter` / `yaw_jitter`; `--seed` reproduces an episode exactly. 52 of 56 spawn calls are randomized |
| **Articulated props** | SAPIEN mobility URDFs — hinged doors, sliding drawers, lids, toggles. Joint values are first-class state and can be success conditions |
| **Chains / rope** | a rope as a jointed chain, judged on its own geometry (end-to-end span) rather than on a placement |
| **Configuration** | class attribute → per-task YAML → `--set key=value`, resolved *before* the simulator starts |
| **Asset pipeline** | rigid → USD, hollow containers, articulated URDFs, plus procedurally generated meshes (ring, rope, pot lid) |
| **Agentic verification** | rendered contact sheets + review prompts for a vision agent, verdicts fed back into concrete parameter fixes, and task proposal from the asset library — `scripts/yam_agent_loop.py` |
| **Verification** | strict numeric conditions **plus** the visual check above; `scripts/status.py` regenerates the status table from run logs |
| **Outputs** | per-episode MP4 with an action/state HUD, contact sheets, single-frame scene renders |