6-DoF Arm Object Handover Behavior Tree (py_trees)
Object Handover for the 6-DoF Arm — an executable behavior tree. Captured/authored with RGB-D camera in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Demonstration clipfree preview
Left: real-world source footage. Right: a signal derived from it (inter-frame motion field or edge/feature map). Source & license are credited in the clip.
Preview
Free preview — no purchase requiredDeployment
Runs on Jetson Xavier NX; no discrete GPU required.
Frameworks
- Isaac GymTensorFlowIsaac Sim
Hardware
- Velodyne VLP-16Ouster OS1-64Jetson Xavier NX
Sensors
- RGB-D cameraGPS/RTK
Specs
- Size: 971 KB
- Duration: 10s
- Validation loss 0.39 after 160 epochs
- ROS compatible
- Jetson compatible
- Isaac Sim compatible
Tags
$49
Apache 2.0 license
6-dof-arm-object-handover-behavior-tree-py-trees.zip · 971 KB
ND-Dev✓
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