Project for CS4278/CS5478 Intelligent Robots: Algorithms and Systems
Please go through main.py and comments to run the file.
Clone this repository and then follow the below
cd VisoBot
python3 simulation/main.py
- Connects to PyBullet and sets up gravity.
- Loads the robot, environment, and static grid map with obstacle inflation.
- Defines key task flags, navigation, and manipulation coordinates.
- Change the task num flag to select which task you want the robot to perform.
- Task 1 & 2: Pickup (+ fetch) and place mugs at specific positions.
- Task 3: Random navigation and manipulation tasks using generated coordinates.
- Generates a global path using A* and smooths it with cubic interpolation (
generate_waypoints). - Follows the smoothed waypoints using inverse kinematics (
follow_waypoints).
- Uses simple IK to control the arm and move to specified positions (
manipulate_simple_ik). - Attaches or detaches objects with constraints for grasping (
grasp_attach/grasp_detach).
- Selects the task and generates the corresponding waypoints.
- Continuously runs the simulation with periodic updates.
Key Imported Modules:
pybulletfor simulation.scipywould also be needed to be installed in the conda environment