Yam Retreat Recovery

YAM Retreat Recovery

After placing or dropping an object, retreat before homing. Release success is not enough if the fingers are still inside a rack/bin/shelf.

Validated patterns:

• Bottle rack: open fully on rack, retreat -X by computed rack-clearance standoff, then home and reopen. Current successful run used 0.14 m.
• Bowl lower rack: post-release clear may use +Z, X retreat, or split diagonal/axis-limited retreat depending on shelf geometry.
• KitKat handover: after right hold, left opens and retreats along the clear lane; right retreats after left clears before trash transport.
• Home/open: normal YAM home can close grippers; use open_grippers_return_home.py when fingers must remain open.

If a run fails while holding an object, inspect current EEF pose and videos first. If the object is safely held, plan bounded recovery from the actual pose: clear lane, place/release, retreat, home/open. Ask for human reset only when the scene is physically broken or unsafe for the robot to repair.