# Yam Geometry

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

- Skill: `nvlabs/yam-geometry` (Agent Skill, multi-file: 4 files)
- Install (CLI): `npx skillmds@latest add nvlabs/yam-geometry`
- Raw SKILL.md: https://api.skillmd.com/api/skills/nvlabs/yam-geometry/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: nvlabs (https://skillmd.com/u/nvlabs)
- Updated: 2026-09-17
- Page: https://skillmd.com/skills/nvlabs/yam-geometry

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# 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`