This is part of the e-MDB architecture documentation. Main page here.

e-MDB discrete event simulator for GII’s experiments

This repository contains packages which implement different discrete event simulators which are used in several experiments to test the components of the e-MDB cognitive architecture.

The following simulators have been implemented:

• Put object in box: Simulates a scenario where a robot has to grasp a cylinder and place it into a box.

• Fruit shop: Simulates a fruit classifying task where the robot has to grasp a fruit, weigh it and then classify it as accepted or rejected.

• 2D Manipulation: A simple 2D environment where two manipulators have to move a cylinder to a box.

• Pump panel: (Work in progress) Simulates an operation panel where a pumping plant has to be started after some initial configurations. The policies consist in pressing buttons and grasping objects.

There are two ROS 2 packages in this repository:

• simulators: Implementation of the discrete event simulators.

• simulators_interfaces: Services and messages definitions.

In this page you can only find the API documentation of the simulators implemented. If you can know the details of the experiments, visit the page dedicated to them.