| name | yam-transport |
| description | Use for YAM held-object transport after pickup, rack/bin approach waypoint ordering, object-relative placement, avoiding shelf/rack collisions, and choosing staged axis moves. |
YAM Transport
For held objects, prefer simple staged waypoints over one large compound move
near racks, shelves, bins, or the other arm.
Validated patterns:
- Bottle rack: compute rack-aware
-X clearance, shift -Y, lift +Z, then
high place and release. Source:
grasp_lift_place_bottle_rack_one_shot_loop.py.
- KitKat trash: stage outside bin, orient gripper to point
+X, move +X into
bin with Y/Z fixed, lower -Z, release, retreat. Source:
handover_chocolate_bar_left_to_right_one_shot_loop.py.
- Bowl lower rack: transport to shelf mouth/high front pose, then use bounded
direct axis moves for insertion/release. Source:
bowl_lower_rack_common.py.
- Can trash: lift to transfer clearance, move over/near trash center plus bias,
release, verify with post observation. Source:
pick_can_place_in_trash_can_one_shot_loop.py.
When possible, calculate standoff from live fixture detections rather than
hardcoding a distance. If cuRobo is sensitive, split movement by axis:
clearance, lateral lane, vertical lift, approach, drop.
