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We present our runner-up approach for the Real Robot Challenge 2021. We buildupon our previous approach used in Real Robot Challenge 2020. To solve the taskof sequential goal-reaching we focus on two aspects to achieving near-optimaltrajectory: Grasp stability and Controller performance. In the RRC 2021simulated challenge, our method relied on a hand-designed Pinch grasp combinedwith Trajectory Interpolation for better stability during the motion for fastgoal-reaching. In Stage 1, we observe reverting to a Triangular grasp toprovide a more stable grasp when combined with Trajectory Interpolation,possibly due to the sim2real gap. The video demonstration for our approach isavailable at https://youtu.be/dlOueoaRWrM. The code is publicly available athttps://github.com/madan96/benchmark-rrc.

Real Robot Challenge 2021: Cartesian Position Control with Triangle Grasp and Trajectory Interpolation