Exit the previous room with Samus in a standing pose (while grappled). After teleporting, press right to release Grapple while staying standing (not being forced into a crouch). Then X-ray climb to get up to the door transition, without needing to open the door. Kill the Pirate, or climb quickly to minimize damage from it.

Entrance condition:

"comeInWithGrappleTeleport": {
  "blockPositions": [[2, 18], [2, 19]]
}

Requires:

"canXRayClimb",
{"heatFrames": 1600},
{"or": [
  {"enemyDamage": {
    "enemy": "Yellow Space Pirate (standing)",
    "type": "laser",
    "hits": 2
  }},
  {"and": [
    "canInsaneJump",
    {"enemyDamage": {
      "enemy": "Yellow Space Pirate (standing)",
      "type": "laser",
      "hits": 1
    }}
  ]},
  {"and": [
    {"enemyKill": {
      "enemies": [["Yellow Space Pirate (standing)"]],
      "explicitWeapons": ["Missile", "Super", "Charge+Plasma"]
    }},
    {"heatFrames": 120}
  ]}
]}

Bypasses door shell: true

Dev note: It is possible to avoid all damage from the Pirate, but it's unclear if this can be done reliably or is RNG-dependent.