This work package is implemented by two tasks:
Task 4.1 Implementation of BT and integration in SmartSoft: this task develops a compiler that transforms BTs to SmartSoft DFSMs following the specification defined in Task 3.2 and in compliance with the Robotic Behavior Metamodel of SmartSoft. Deliverable 4.1 presents the reults obstained within this task.
Task 4.2 Integration of YARP in SmartSoft: this task develops a port of YARP to SmartSoft, so that SmartSoft components can be used on the R1 robot. Deliverable 4.2 presents the reults obstained within this task.