A two-robot collaborative simulation where KUKA robotic arms detect colored cubes, maintain the color order, and place cubes in the correct arenas using Webots and Python.

This project simulates a two-robot collaborative color sorting system with a structured environment:

• 🟢 Zone 1: Workspace for Robot A – scans and collects cubes.
• 🔵 Zone 2: Workspace for Robot B – waits for cubes delivered by Robot A.
• 🧱 Wall: Divides the zones.
• 🎨 Color Arenas: Four target areas for cube placement:
  • 🟦 Blue Arena
  • 🟥 Red Arena
  • 🟨 Yellow Arena
  • 🟩 Green Arena

1. 🤖 Robot A – The Color Scanner & Collector:

   • Scans cubes in its zone to determine the color order.
   • Stores the order in a color array.
   • Picks cubes sequentially according to the array.
   • Places cubes on the wall for Robot B to access.

2. 🤖 Robot B – The Secondary Collector:

   • Scans the color array to know where each cube should go.
   • Waits in front of the wall until cubes are delivered.
   • Collects cubes from the wall.
   • Places cubes in the correct color-coded arena, maintaining order.

• 🤝 Collaborative Robotics: Two robots working together to sort cubes.
• 🎨 Color Recognition & Order Management: Scans cubes and maintains order arrays.
• ⚙️ Autonomous Motion: Robots pick, transfer, and place cubes automatically.
• 🏗️ Structured Environment: Two zones separated by a wall for organized operation.

Robot A scans cubes, stores the color order, and delivers them to the wall.

Robot B scans the color array, waits at the wall, collects cubes, and places them in the correct arenas:

    🟦 Blue

    🟥 Red

    🟨 Yellow

    🟩 Green

The process repeats until all cubes are sorted correctly.

This project is a work in progress and still requires further development .

Note: The current code needs more development to optimize the simulation and incorporate best programming practices for readability, maintainability, and performance.

It serves as a foundation for collaborative robotics simulations and will be enhanced in future versions.

KUKA-Color-Sorter/
│
├── README.md                      # Project documentation
├── youbot.wbt                      # Webots simulation world
├── controllers/
│ └── my_controller_robot1/
│ ├── my_controller_robot1.py      # Main Python controller
│ └── my_controller_robot2/
│ ├── my_controller_robot2.py      # Main Python controller

1. Install Webots.
2. Open world file youbot.wbt in Webots.
3. Click Run Simulation

You can watch a demo video of the current simulation in action:

Watch Demo

Implement inverse kinematics for smoother motion.

Support multiple cubes simultaneously.

Enhance color detection with advanced image processing.

MIT License – freely use, modify, and distribute.