Robotic Manipulator Project

This is a robotic project for the academic course "Robotic Systems", IT department (DMI), UniCT.

The main goal is to collect all the objects in a specific color order —blue, green, then red— while avoiding obstacles. The system consists of three main components: the GUI and robot controller, the main declarative agent, and the block manager agent.

Installation

Install requirements by running:

Step 1

Linux:

  $ ./init.sh

MacOs:

NB: HomeBrew is required.

  $ ./init_macos.sh

Step 2

Next install PHIDIAS and you are good to go.

Run the project

Run the following files in separate terminal instances:

  $ python3 main_gui.py

main_gui.py runs the robot instance which waits for instructions by the phidias agents.

  $ python3 ./phidias_agents/phidias_main.py

phidias_main.py is the main agent. It talks via socket to the block manager agent and gives instructions to the robot.

  $ python3 ./phidias_agents/phidias_block_manager.py

phidias_block_manager.py talks via socket to the main agent to get the task done.

Commands

Commands are accepted only by the main agent console. There are 2 main ones:

  eShell: main > generate(5)

The generate command accepts values in the range [1, 6], other values will be dropped. It generates N blocks into the world in 10 specified positions.

  eShell: main > pick()