README

Implementation for Dual Arm Task-Motion Planning of Baxter the Robot.

Directory Structure

./Final-Files: files used in final draft of single jar-opening problem

./Jar-Lid-Separate-Test-Files: file used in testing/debugging

./Multi-jar: files used in draft of multi-jar-opening problem

./Original-PDDL-Files: original jar problem domain PDDLs

./Renderings: image captures

./aminoo: for debugging with aminoo

./baxter-blocks: from TMKit tutorial

./holderJar-test-file: variation on files (not used)

Overview

In this project, Baxter the Robot was tasked with opening a jar using TMKit with Amino.

Dependencies

• TMKit
• Baxter Common

Running

After setting up TMKit (and all of it's dependencies):

1. Set ROS_PACKAGE_PATH to the directory of baxter_common
2. Give execute permissions the final script chmod +x final-jar.sh
3. Run the final script ./final-jar.sh

Authors

Joey Lovato, Eryk Lorenz, Heather Schneider

Acknowledgements

Sihui Li, Neil Dantam

*This work was compeleted for CSCI534 (Robot Planning and Manipulation) at Colorado School of Mines Spring 2022