Common Stackfile Edits

Use these edits after you can validate and inspect examples/stackfiles/demo.yaml. Make one change at a time, validate, then run.

Workflow

cp examples/stackfiles/demo.yaml /tmp/dam-demo.yaml
.venv/bin/dam validate /tmp/dam-demo.yaml
.venv/bin/dam inspect /tmp/dam-demo.yaml

Expected result: validation reports OK, and inspect shows the task, guards, boundaries, and fallbacks you expect.

After a successful validation, use a bounded run:

.venv/bin/dam run /tmp/dam-demo.yaml --cycles 200 --task demo

Expected result: DAM loads the edited Stackfile, starts task demo, runs the requested cycles, and exits.

Change The Active Task Boundaries

Find:

tasks:
  demo:
    boundaries: [ood_detector, workspace, joint_position_limits, joint_velocity_limit, hardware_watchdog, host_health]

To temporarily focus on motion checks, remove ood_detector from the copied file:

tasks:
  demo:
    boundaries: [workspace, joint_position_limits, joint_velocity_limit, hardware_watchdog, host_health]

Validate before running. If a boundary name appears in tasks.demo.boundaries, it must exist under boundaries:.

Tighten Workspace Bounds

Find the workspace boundary:

params:
  bounds: [[-0.4000, 0.4000], [-0.4000, 0.4000], [0.0200, 0.6000]]

Reduce one limit:

params:
  bounds: [[-0.3000, 0.3000], [-0.4000, 0.4000], [0.0200, 0.6000]]

This makes the L1 workspace check stricter on the x axis.

Switch Monitor To Enforce

The demo starts in monitor mode:

safety:
  enforcement_mode: monitor

Use enforce only when you are ready for DAM to apply clamp/reject behavior:

safety:
  enforcement_mode: enforce

For first learning runs, keep monitor until you understand the guard decisions you are seeing.

Change A Policy Device

For a CPU-only run:

policy:
  device: cpu

For Apple Silicon acceleration, use mps only if your local PyTorch install supports it:

policy:
  device: mps

If policy startup fails after changing the device, switch back to cpu and validate the rest of the Stackfile first.

Add A New Boundary Safely

1. Add the boundary under boundaries:.
2. Add its name to the intended task under tasks:.
3. Validate the file.
4. Inspect the file and confirm the boundary appears under the task.

Avoid editing fallback escalation, loopback rotation, or custom callbacks until the basic loop is working.