GitLab

• 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