dual_arm_planning_api

h1. Cooperative Manipulation (CM) wiki for dual pandas

This package was originally developed for the PRO-ACT project where the objective was to develop solutions for Cooperative Manipulation.

Originally the idea was for two mobile manipulators to co-manipulate an object. 

!pro_act_1.jpg!

However due to the COVID situation the objectives of the project were lowered, and instead of using the two mobile manipulators of the pictures above, it was decided to implement it with the two fixed robotic arms present at LAAS, the pandas.

The Cooperative Manipulation task can be split in two: Planning & Control. 

The planning software stack was implemented by reusing the work achieved in the dual-arm-worker project, another LAAS project.

The control part was made from scratch and followed the ROS Control template for the implementation. 

You might encounter the following abbreviations: CM2P & CM2P, MP2. CM2P and CM2C denotes respectively the planning and control parts of the project. 

In parallel of the PRO-ACT project, we initially had the MP2 project, a project intern to LAAS. The objective was to implement the solutions developed for PRO-ACT at LAAS (with the panda robots and the mobile robots Manna & Minnie) and not loose this work. However due to the COVID pandemic and the impossibility to travel, the PRO-ACT and MP2 projects more or less merged as all the implementations were made at LAAS. 

In this wiki you can find:

# A user manual to operate the panda arms for the first time

# Documentation regarding the software implementation for the Cooperative Manipulation

# Various resources (videos, etc)

h2. Table of Contents

# [[Modules description and installation]]

# [[Cooperative Manipulation Planning]]

# [[Cooperation Manipulation Control]]