The IRI recently acquired a "Baxter" robot from "Rethink Robotics." This robot, "Merry," has been integrated with a mobile base, which is a novel augmentation that extends Merry's reach in the world. In addition, a Yale OpenHand gripper and a Microsoft Kinect2 have been integrated, enhancing her perception and manipulation capabilities. New robotic operating system (ROS) software is being created to allow for object recognition, localization, and manipulation, with the incorporation of robot learning. Merry is a project at the Mobile Robotics Laboratory, being developed under the guidance of Dr. Wyatt Newman.