About the deploy setup

[Breezewrf]

Hi, thank you for your awesome open source,

I tried to deploy the policy but meet some problems, the performance of task A is not so good like demo, sometimes, in the initial stages, the robotic arm would repeatedly flip the clothes over and over. Sometimes, if one hand didn't hold on tightly, the clothes would be pulled to the other side. In this situation, one hand would grab the clothes, but the other hand would keep trying to reach out but couldn't grab them.

I suspect it might due to the distance setup, refer here, we have a setup image below, green line indicates the camera height to the table is 76cm and red line indicates the distance between the arms is 34*2 cm for the task-A.

May i confirm is the Left secondary arm → table front edge 18 cm unnecessary to consider in the setting?

And also for the task-B, setup writes Center base → left secondary arm center 16 cm , is it normal to have such a short distance?

We take the checkpoints from here, is it correct?

Thank you!

[Tradewindycc]

Hi, thanks for your interest. Sorry for the confusion about dual arm setup. You may refer to this pic below for the dual arm distance. The exact distance between the center of two arms( the two red bold line) for task A is 60.5 cm. For task B, this distance is 59.5 cm.