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| 1 | +\section{Doing Laundry}\label{test:doing-laundry} |
| 2 | +The robot assists with laundry by retrieving clothes from a washing machine and folding them neatly on a table. This test evaluates deformable object manipulation, appliance interaction, and task sequencing.\\ |
| 3 | + |
| 4 | +\noindent \textbf{Main goal:} Retrieve clothes from the washing machine, transport them to a table, and fold them.\\ |
| 5 | + |
| 6 | +\noindent \textbf{Optional goals:} |
| 7 | +\begin{enumerate}[nosep] |
| 8 | + \item Opening the washing machine door |
| 9 | + \item Retrieving clothes from inside the washing machine |
| 10 | + \item Using a laundry basket for transportation |
| 11 | + \item Folding multiple pieces of clothing and stacking them |
| 12 | +\end{enumerate} |
| 13 | + |
| 14 | +\subsection*{Focus} |
| 15 | +\emph{Deformable object manipulation}, \emph{bimanual grasping}. |
| 16 | + |
| 17 | +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
| 18 | +% Setup |
| 19 | +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
| 20 | +\subsection*{Setup} |
| 21 | +\begin{itemize} |
| 22 | + \item \textbf{Locations:} |
| 23 | + \begin{itemize} |
| 24 | + \item \textbf{Start location:} Before the test, the robot waits outside the \Arena{} and navigates to the laundry area when the door is open. |
| 25 | + \item \textbf{Test locations:} The testing area contains a washing machine, a folding surface nearby, and a laundry basket. |
| 26 | + \end{itemize} |
| 27 | + \item \textbf{People:} |
| 28 | + \begin{itemize} |
| 29 | + \item No people are involved in the test, unless the robot requires human assistance. |
| 30 | + \end{itemize} |
| 31 | + \item \textbf{Furniture:} |
| 32 | + \begin{itemize} |
| 33 | + \item \textbf{Laundry basket:} A lightweight basket requiring two arms to carry, placed near the washing machine. The basket already has 6--8 pieces of clothing placed inside. |
| 34 | + \item \textbf{Washing machine:} Positioned with its door closed at the start. Clothes are placed inside. There are 2--4 pieces of clothing in the washing machine. |
| 35 | + \item \textbf{Table:} Positioned near the washing machine. Used as the folding surface. |
| 36 | + \end{itemize} |
| 37 | + \item \textbf{Objects}: |
| 38 | + \begin{itemize} |
| 39 | + \item \textbf{Clothes:} A set of 8--12 pieces of laundry (e.g., towels, t-shirts) made from cloth or other deformable fabric. |
| 40 | + \end{itemize} |
| 41 | +\end{itemize} |
| 42 | + |
| 43 | +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
| 44 | +% Procedure |
| 45 | +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
| 46 | +\subsection*{Procedure} |
| 47 | +\begin{enumerate}[nosep] |
| 48 | + \item \textbf{Location announcement:} At least two hours before the test, referees announce which washing machine and table will be used, along with the approximate location of each. |
| 49 | + \item \textbf{Test start:} The robot enters the testing area once the arena door is opened. |
| 50 | + \item \textbf{Retrieving laundry:} The robot opens the washing machine (if possible), retrieves the clothes, and places them on the table. |
| 51 | + \item \textbf{Folding:} The robot attempts to fold at least one piece of clothing neatly and place it on the table. |
| 52 | +\end{enumerate} |
| 53 | + |
| 54 | +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
| 55 | +% Additional Rules |
| 56 | +% %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
| 57 | +\subsection*{Additional rules and remarks} |
| 58 | +\begin{enumerate} |
| 59 | + \item \textbf{Cloth placement:} Clothes must be placed on the table before folding. Folding on the floor is not allowed. |
| 60 | + \item \textbf{Folding quality:} Folding is evaluated by neatness and whether the cloth is flattened and stacked. |
| 61 | + \item \textbf{Multiple items:} Additional points are awarded for folding multiple pieces of clothing and stacking them. |
| 62 | + \item \textbf{Deus Ex Machina:} Scores are reduced if human assistance is received, in particular for: |
| 63 | + \begin{itemize} |
| 64 | + \item opening the washing machine door |
| 65 | + \item handing clothes to the robot |
| 66 | + \item \textbf{Human assistance during folding:} Penalties are proportional to the amount of help provided: |
| 67 | + \begin{itemize}[nosep] |
| 68 | + \item Minimal help (e.g., smoothing wrinkles): small penalty. |
| 69 | + \item Partial folding (e.g., folding one half or aligning edges): moderate penalty. |
| 70 | + \item Major help (e.g., completing entire fold/stack): maximum penalty. |
| 71 | + \item One-armed robots may request limited assistance (e.g., stabilizing cloth); penalties are proportional. |
| 72 | + \end{itemize} |
| 73 | + \end{itemize} |
| 74 | +\end{enumerate} |
| 75 | + |
| 76 | +\subsection*{OC Instructions} |
| 77 | +At least two hours before the test: |
| 78 | +\begin{itemize} |
| 79 | + \item Announce which washing machine and table will be used. |
| 80 | +\end{itemize} |
| 81 | + |
| 82 | +\subsection*{Referee Instructions} |
| 83 | +The referee needs to: |
| 84 | +\begin{itemize} |
| 85 | + \item Ensure the washing machine and basket contains the laundry before the test begins. |
| 86 | + \item Close the washing machine door at the start. |
| 87 | + \item Verify that the folding table is clear before the test. |
| 88 | +\end{itemize} |
| 89 | + |
| 90 | +% \newpage |
| 91 | +\subsection*{Score sheet} |
| 92 | +\input{scoresheets/DoingLaundry.tex} |
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