dual_arm_planning_api

h1. Cooperative Manipulation (CM) wiki for dual pandas

This package was originally developed for the PRO-ACT project. The objective of the LAAS in this project 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. For the project we used respectively the following abbreviations: CM2P & CM2P.

CM2P was implemented by reusing the work achieved in the dual-arm-worker project, another LAAS project.

CM2C was made from scratch and followed the ROS Control template for the implementation. 

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

# [[Introduction]]

# [[Modules description and installation]]

# [[Cooperative Manipulation Planning]]

# [[Cooperation Manipulation Control]]