yam-geometry

name	yam-geometry
description	Use for YAM DOF, coordinate directions, tabletop/rack/trash geometry, camera frames, gripper geometry, and contact/placement offsets.

YAM Geometry

YAM is bimanual. Each follower arm command path uses 6 arm joints plus 1 gripper command. Left/right follower RPCs are separate.

World-frame anchors, checked against the calibrated station XML:

• +Z: up.
• +X: from the arm bases toward the tabletop workspace; not image-right.
• +Y: left-arm side. -Y: right-arm side / scene-right in recent scripts.
• Arm bases: left [0.2525, +0.31, 0.75], right [0.2525, -0.31, 0.75].
• XML table top is 0.750 m; top-camera support/table estimates often use ~0.760 m. Keep model Z and live-depth support Z separate.
• Trash drop gripper orientation: point along +X when the gripper should face away from the robot.

Verify against current overlays and script state before changing waypoints.

References:

• references/yam-geometry-ground-truth.md
• references/blue-gripper-geometry.md
• references/multiview-camera.md