ROS packages for physical and simulated robot hardware: https://github.com/uml-robotics/armada_resources

• Physical robot and end-effector bringup: https://github.com/uml-robotics/armada_resources/tree/master/armada_bringup

• Simulated robot and end-effector bringup in Gazebo, including virtual cameras and other associated plugins: https://github.com/uml-robotics/armada_resources/tree/master/armada_gazebo

• Description files such as semantic model descriptions (URDFs) as well as 3D models of components and xml documents describing how robots are assembled: https://github.com/uml-robotics/armada_resources/tree/master/armada_description

• MoveIt configurations for each existing robot configuration are also housed in this repository. Each configuration can be described as a manipulator with a specific end-effector that can be supplemented by mounts and unactuated sensors that are swapped out whenever necessary

Repository for robot manipulation via the FlexBe behavior engine: https://github.com/uml-robotics/armada_behaviors

• Housing behaviors which are akin to individual experiments or processes: https://github.com/uml-robotics/armada_behaviors/tree/main/armada_flexbe_behaviors

• Custom states which are steps unique to our specific experiment: https://github.com/uml-robotics/armada_behaviors/tree/main/armada_flexbe_states

• Service and Action Server nodes and all of their message types as well as launch files and configuration files which are required for describing an experiment or environment. Also contains launch files which can be used to bring up robots and helper nodes utilized by the FlexBe behaviors during runtime: https://github.com/uml-robotics/armada_behaviors/tree/main/armada_flexbe_utilities

NIST Assembly Task Board evaluation package: https://github.com/pgavriel/nist-atb-eval