The script that controls the Sawyer arm for each step listed below as well as leverages the model we fit can be found here [https://github.com/austinapatel/106a-final-project/blob/main/ros_workspace/src/move_grip/src/path_test.py].

The node that reads in AR tag poses and publishes relative transforms can be found here [https://github.com/austinapatel/106a-final-project/blob/main/ros_workspace/src/move_grip/src/ar_tag_publisher.py].