Integrated DEMO 1 successfully achieved: https://drive.google.com/file/d/1DhyhLxLEneSCRp_AzKI_26zqYeK3jLis/view, corresponding architecture of the setup: https://gitlab.ciirc.cvut.cz/imitrob/mirracle/mirracle_wiki/-/wikis/project-description/project-architecture

By 27.6.2023 we want to show simple integrated demo of the system for task "Push the cube to the left")

1. Simple move prelearnt by MVAE in simulator (e.g. push cube to the left)
2. Language + gesture command ("Push it" + gesture push_right + pointing gesture + distance how much to the right)
3. Option A:

• 3a. Command send via ros service to MMVAE and trajectory sent from MMVAE back to be executed
• 4a. Logic assigns the task to the queue and sends the action via ros action
• 5a. Robot controller is called via ros action to execute the command
• 6a. Human can fix the position of the robot to adjust the end position where the object is touched

1. Option B:

• 3b. (Task representation created in ontology)
• 4b. Behavior tree created to execute the given task
• 5b. Logic calls the controller to execute the given BT with optional interaction of the user
• 6b. Human can fix the position of the robot to adjust the end position where the object is touched