Hey there, I'm James Pizzurro, probably known to you as 'Grey Echo' or 'madkowa', if at all. I specialized in programming for the Source engine under the now defunct Agent Red Productions, but I did some compiling, mapping and animating work from time to time too. I was also an occasional guest host for Podcast 17.
This is a demonstration of some of the functionality of my RRT-based planning application. This particular video features waypoint creation and orientation adjustment.