Examples

The examples are working engineering references rather than screenshots of isolated planner calls. Each exercises a different boundary: bimanual closed-chain motion, long-horizon recovery, asset conversion, or an external mission executive.

Example	What it demonstrates
Article	Scale
---	---
Screw assembly	2 UR10s, 4 plates, drill, fixture
TWIN lift ball	2 Panda arms, shared ball
IKEA table	2 UR10s, tabletop, 4 legs
BehaviorTree host	C++ host + embedded Python

Start with TWIN to understand a compact manipulation sequence. Read screw assembly for the complete system: scene generation, mission decomposition, failure recovery, metrics, and replay. The IKEA article is deliberately candid about unfinished phases so it can serve as an implementation log rather than a polished claim.