Using Smach with Nao

The video shows the robot NAO performing a complex task. It first stands up, than it grabs an object heading towards a target and finally it releases the object. The modeling of tasks and subtasks is done with SMACH a tool available in ROS for building hierarchical state machines. The video shows the primary state machine that models the tasks: INITIALIZE, GRAB OBJECT, GO TO THE TARGET, RELEASE and END.