This video shows the integration between SmartSoft and YARP, and the Behavior Tree engine developed in the CARVE project. Groot from Mood2Be is used to design the BT and visualize it at runtime.
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.
Video for Scenario 3 for “pouring a drink”: