Behavior Trees orchestrating Navigation, Human follower and Grasping with R1

[pattacini]

Here's a video showing the outcome of our recent efforts aimed to lump together different pieces of software that we developed in isolation.

We used Behavior Trees - a technology very well known in the world of gaming for coding non-player characters - to construct an intelligent graph capable of dealing with all the conditions that can dynamically affect the fetch'n'carry task.

main.mp4

Here's another tidbit on the same argument: R1 pouring what we pretend to be a drink 😄

pouring.mp4