multiple arms following plan created by twins-planner
- make rostopic names robot specific
- make node name different for each arm so both can be done connections can run simultaneously
- document process for connecting to both arms simultaneously
- make MoveIt package for controlling both arms simultaneously
- edit MoveIt package to hook into real controllers (with robot specific names)
- Create controller object for controlling both arms and extruders from python
- Create safe trajectories for both arms to execute simultaneously
- main loop controlling both arms simultaneously
- execute some safe trajectories to test main loop control
- read feedback from arms on arm positions etc
- Time arms to see time offset over both arms executing a single trajectory
- Time arms to see time offset over multiple trajectories
- Design workarounds for time offsets if excessive
- Execute long plan for both arms without extrusion
- Connect multiple Extruders simultaneously
- Extrude simultaneously