↔️ Competition Step 6 (Stretch): Are the final poses of both robot arms fixed?

[Victorlouisdg]

Are the final poses of both robot arms fixed for every episode during the stretching process mentioned in Step 6?

No, we try to stretch the cloth until we measure 4 N tension in the cloth, so the final poses depend on how long we can stretch the cloth. The starting pose for the stretching step is at a height of 90 cm, and the distance between the grippers is set to 90% of distance between the grippers when the second grasp took place (we use 90% to decrease the tension when moving from the grasp pose, to the stretch start poses).

Please also see the section of this answer about the extensibility of the cloth.

For full details of the stretch procedure, see the stretch_controller.py file. We might still make improvements to this class for the larger dataset collection.

Note: during the initial dataset collection, we noticed our force-torque measurements drifted over time. This caused the stretching to sometimes terminate too soon.