Dual-Arm ECTS Example Overview

Overview for examples/05_dual_arm_ects.py.

What It Demonstrates

• Coordinated dual-arm manipulation with ECTS task formulation
• Orthogonal and blended coordination modes
• Absolute and relative tool-frame objectives
• Dual-arm collision handling and mode-snap behavior

Highlights

• Interactive object and grasp markers in Viser
• Nullspace objective selection
• Relative bounds constraints and IK tuning controls

Run

Install and copy the example bundle once using the Installation Guide. Then run:

cd embodik_examples
python 05_dual_arm_ects.py

For repository development, use Pixi:

pixi run python examples/05_dual_arm_ects.py