CARVE Scenario 1: BT engine, YARP-SmartSoft integration


#1

This video shows the integration between SmartSoft and YARP, and the Behavior Tree engine developed in the CARVE project.

It demonstrates the execution of a Behavior Tree for “fetching an object”. The BT controls the robot to navigate to the kitchen, approach the table and locate the bottle using its visual system. Finally, the BT sends the commands to compute a valid grasping pose for the hand, reposition the robot, and lift the object from the table.


#2

That’s great! Can you tell us more about the component architecture, i.e. What RobMoSys/SmartSoft did you use? Does it use the navigation stack as does your previous video?

Dennis


#3

Alberto can give you details on the specific version of SmartSoft we have used. I confirm that we are using YARP’s navigation software (which is a wrapper over ROS navigation software).