This repo is for the course project for 16-782: Planning and Decision Making in Robotics, course by Maxim Likhachev @ Carnegie Mellon University during the fall semester of 2025. The project is to experiment with planners for multi-manipulator actions.

Install (Tested on Ubuntu 22.04):

wget https://github.com/google-deepmind/mujoco/releases/download/3.3.7/mujoco-3.3.7-linux-x86_64.tar.gz
tar -xvf mujoco-3.3.7-linux-x86_64.tar.gz
sudo mv mujoco-3.3.7 /usr/local/mujoco 
echo "/usr/local/mujoco/lib" | sudo tee /etc/ld.so.conf.d/mujoco.conf
sudo ldconfig

sudo apt install libglfw3 libglfw3-dev

To run the planners, build the workspace and run ./CBSPlanner for CBS planner ./ECBSPlanner for ECBS planner ./RRTPlanner for RRT-Connect planner ./CombinedPlanner --planner [cbs|ecbs|rrt] --scene-file scenes/scene_four_bin.txt unified entry point (or set PLANNER=cbs|ecbs|rrt)

2 new configs added:

• multi_panda_criss_cross.xml
• panda_four_bins.xml
• multi_panda.xml
• multi_panda_criss_cross_1.xml

add these names in scene.xml. The start config for multi_panda_criss_cross.xml is in main_cbs.cpp

Franka Panda Model Adapated From: https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda

Arm 0 start: {-1.0472, -0.2, 0, -2.2, 0, 2, -2.2} goal: {0, -0.785, 0, -2.356, 0, 1.57, 0.785}