| name | yam-retreat-recovery |
| description | Use for YAM post-release retreat, gripper-open confirmation, home/open recovery, retreat after rack/bin placement, and safe recovery while holding an object after a failed run. |
YAM Retreat Recovery
After placing or dropping an object, retreat before homing. Release success is
not enough if the fingers are still inside a rack/bin/shelf.
Validated patterns:
- Bottle rack: open fully on rack, retreat
-X by computed rack-clearance
standoff, then home and reopen. Current successful run used 0.14 m.
- Bowl lower rack: post-release clear may use
+Z, X retreat, or split
diagonal/axis-limited retreat depending on shelf geometry.
- KitKat handover: after right hold, left opens and retreats along the clear
lane; right retreats after left clears before trash transport.
- Home/open: normal YAM home can close grippers; use
open_grippers_return_home.py when fingers must remain open.
If a run fails while holding an object, inspect current EEF pose and videos
first. If the object is safely held, plan bounded recovery from the actual pose:
clear lane, place/release, retreat, home/open. Ask for human reset only when the
scene is physically broken or unsafe for the robot to repair.
