| name | yam-motion-planner |
| description | Use for YAM cuRobo planning/IK failures, no-motion vs real-robot planning mismatch, waypoint robustness sweeps, perturbation testing, and recovery after motion planner failures. |
YAM Motion Planner
cuRobo is sensitive to the real start state. A no-motion/pre-motion plan can
pass, then a real run can fail because physical execution replans from the
actual EEF pose, joint state, gripper load, or a slightly different scene pose.
When cuRobo fails:
- Inspect the current scene, robot state, failed target pose, and failed stage.
- Decide whether the target is physically unreasonable or just planner-sensitive.
- If the motion is feasible, do not treat one IK/path failure as final.
- Try nearby target offsets and extra waypoints that make the same task easier:
retreat lanes, lift-before-shift, shift-before-approach, lower/higher
staging poses, or less extreme rack/bin/place coordinates.
- Preview from the current robot state, not only from an ideal scripted state.
- Prefer waypoint sets that pass perturbation sweeps, not just one clean pass.
Robustness sweep pattern:
- Perturb candidate waypoints and final targets by small XYZ/RPY offsets that
represent likely real-world variance.
- Include start-state sensitivity when possible: preview from the current arm
posture, or rerun previews after moving to the actual preceding waypoint.
- Record pass/fail rate, first failed stage, pose, and planner error in
logs/<run>/plans/.
- Pick the candidate with high pass rate, clear margins from obstacles, and
simple task semantics.
Useful sweep examples:
legacy_codes/kitkat_trash_waypoint_robustness_sweep.pylegacy_codes/kitkat_handover_clearance_waypoint_sweep.pylegacy_codes/bottle_rack_waypoint_robustness_sweep.pylegacy_codes/bottle_fixed_pour_waypoint_robustness_sweep.py
Typical useful perturbations:
- placement/drop targets:
x,y,z +/- 2-5 cm
- staging/retreat waypoints:
x,y,z +/- 3-8 cm
- orientation: yaw/roll/pitch variants near the intended gripper axis
- approach order: split compound moves into one-axis waypoints
If a real run stops after a cuRobo failure while holding an object, first reason
from the current scene. If the object is still safely held, plan a held-object
recovery from the current EEF pose: preview nearby rack/bin/table targets, add
intermediate waypoints, release, retreat, then home/open. Ask the human to reset
only if the scene is physically broken or unsafe for the robot to fix.
