yam-grasp-pickup

name	yam-grasp-pickup
description	Use for YAM object detection, grasp candidate generation, side/top-down/rim pickup choices, staged gripper close, contact evidence, lift-only checks, and pickup failures.

YAM Grasp Pickup

Start from fresh live perception. Do not use fixed object XYZ for a physical pickup unless it is explicitly a no-motion calibration run.

Preferred helper layer:

• yam_runtime.capture_scene
• yam_runtime.generate_side_grasp_candidates
• yam_runtime.rank_motion_candidates
• yam_runtime.execute_grasp_lift_attempt
• yam_runtime.staged_close_with_contact
• yam_runtime.verify_lift

Patterns from current successful scripts:

• Bottle: side body grasp, fixed/biased body Z only after live XY detection, staged close, lift before transport.
• Can: cylinder model, top-down yaw candidates, lift to transfer clearance, verify by post observation.
• Bowl/dish/plate: rim or wall contact, high approach then low pregrasp, gentle staged close, lift only a few centimeters before transport.
• KitKat: top-down endpoint pinch on one short end, then handover the exposed end.

Do not count close command return as pickup success. Require gripper width/contact evidence, lift/post-observation motion, video evidence, or an explicit task artifact.