Dual-Arm ECTS Example Overview
Overview for examples/09_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