yam-transport

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.