Yam Transport

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.