Hello everyone!
My name is Ishaan. Through my internship this past summer, I had the chance to work with Stretch in the context of finding use cases in assistive technology. Going into the internship, I had just finished my first year as a Mechanical Engineering student at Georgia Tech.
What I built is a macropad that triggers several of Stretch’s functions at the press of a key. The project implements an autonomous bottle-delivery and macro-control system on a Hello Robot Stretch SE3. It combines two subsystems — a headless USB-keypad macro dispatcher and a multi-step autonomous delivery mission. The biggest challenge I ran into was making sure that starting different processes didn’t lead to duplicate, conflicting sessions and that everything shut down properly between macros.
In addition, this summer I also explored the Dexterous Teleop setup as well as Stretch_ai. I made slight modification to the stretch_ai voice teleop to increase the reliability of my machine selecting the correct voice input.
The code, documentation, and a demo video are all linked below:
Code: GitHub - Shwarma0207/hello-robot-se3-macro-and-delivery-system · GitHub
Documentation: Stretch_SE3_Documentation.pdf
Video: Video Demo
Video 2: stretch_ai video
A big thank you to everyone at Hello Robot for the help along the way, I came in to this project with very baseline coding knowledge, and I can confidently say that this experience has made me a much better engineer.
Feel free to reach out to isharma65@gatech.edu or on Linkedin I’m happy to learn and talk about anything.
Best,
Ishaan Sharma