transporting-objects

Move the currently-held object to a destination and release. The gripper enters this subgraph holding the object; on exit the object has been placed. For a walled container (basket / bin / box / tote) the default is a straight-Z descent to inside the walls (transport_descend_linear → release); for placement ONTO a surface or into a described sub-region it computes an explicit drop pose (compute_drop → move_above →…