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
+Xwhen the gripper should face away from the robot.
Verify against current overlays and script state before changing waypoints.
References:
references/yam-geometry-ground-truth.mdreferences/blue-gripper-geometry.mdreferences/multiview-camera.md