HW3

Dylan Losey, Virginia Tech.

In this homework assignment we will share autonomy with a robot arm.

Install and Run

# Download
git clone https://github.com/vt-hri/HW3.git
cd HW3

# Create and source virtual environment
# If you are using Mac or Conda, modify these two lines as shown in [HW0](https://github.com/vt-hri/HW0)
python3 -m venv venv
source venv/bin/activate

# Install dependencies
# If you are using Mac or Conda, modify this line as shown in [HW0](https://github.com/vt-hri/HW0)
pip install numpy pybullet

# Run the script
python main.py

Expected Output

Use your keyboard to teleoperate the robot. See teleop.py to understand which keys map to which axis of robot motion.

Assignment

Modify the provided code in main.py to complete the following steps:

1. Add a function to predict the human's goal based on their position inputs.
2. Blend the human's teleoperation actions with the robot's assistive actions.
3. Adjust the blending factor alpha to find a good balance between assistance and human control. When the human is not pressing any keys, the robot should fully control its own motions.
4. Implement a toggle so that the robot stops/starts providing assistance if the human presses that key.