Programming two Franka Panda robot arms to achieve collaboration in CoppeliaSim (aka V-REP) v4.3. The scripts for the robots are written in Lua.
Goal: Grasp a cuboid and alternate the grasp between the two arms without collision
Simulation:
Goal: Follow a pre-determined trajectory while holding the cuboid with both robot arms.
Simulation:
The simulations were prepared with CoopeliaSim V4.3. The API has significant changes in contrast to earlier versions. Using earlier versions would lead to errors.
In order to reproduce the results, simply load the corresponding scene (*.tttfile) in CoppeliaSim and run the simulation by pressing the play button in the user interface.