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  • #5

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Created Nov 30, 2020 by Jayant Khatkar@13765728Owner16 of 16 tasks completed16/16 tasks

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
Edited Jan 29, 2021 by Jayant Khatkar
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