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The graphical interface provides a real-time view of the robot and the
robot's environment, using data obtained from the simulator
(figure ). It consists of a 2D display showing a bird's eye view
of the room, the objects, and the robot in it, a sensors and actuators
monitor display, and a 3D perspective display that shows the environment
from the robot's point of view (not shown in figure
). The
graphical interface also contains a control panel display which provides
manual control over the robot's movements and maneuvers. A movement
command for a robot is composed by the user by selecting power levels and
directions of rotation for each of the two wheels. A maneuver is a
higher-level instruction for the robot. Initially, it can be one of 1)
find a block, 2) approach a block, 3) touch a block, 4) push a block, 5)
unwedge a block, and 6) retrieve a block. Blocks can be referenced by
color (not necessarily unique) or by a numeric identifier. The control
panel also allows the robot's signal light to be switched on or off.