Gaze control

Task

Implement gaze() function in exercise_3.py that will control the gaze of the robot to follow the ball.

• the function takes three arguments:

  • client - instance of pycub class that controls the simulation

  • head_direction - normalized vector representing the view of the robot, i.e., where the robot is looking

  • head_ball_direction - normalized vector representing the direction from the robot to the ball, i.e., where the robot should be looking

• the function should control joints in the necks of the robot to follow the ball

  • the move must non-blocking, i.e., parameter wait=False

• you should not call update_simulation() in this function

Scoring

• the ball will be moving for 10 (default) seconds and each step the error in degrees will be calculated

• maximum number of points is 10 (default; 10 runs of the code) and you can lose points for individual runs based on the following:

  • if the mean absolute error is:

    • less than 0.5 degree - 0% of points

    • more than 0.5 and less than 1 degree - 50% of points

    • more than 1 and less than 5 degrees - 75% of points

    • more than 5 - 100% of points

  • if the max error is:

    • less than 2 degrees - 0% of points

    • more than 2 and less than 5 degrees - 25% of points

    • more than 5 and less than 10 degrees - 50% of points

    • more than 10 - 100% of points

  • the loss is accumulated for both mean and max error, e.g., 75% loss in mean and 25% in max means 100% and 0 points

Requirements

Those apply mainly for exercise_3_tester.py to work correctly:

• do not create new client instance, use the one that is passed as an argument

• do not rename the function or file

• use non-blocking movements, i.e., use parameter wait=False or use velocity control

• do not call update_simulation() in any of your code

Those apply so that you fulfill the exercise as intended:

• Do not turn of gravity