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double_panda

This repository contains a simulation of a double armed robot with a gripping demonstration with ROS, MoveIt and WeBots. Both arms are franka emika's Panda. Special thanks to @erdalpekel whose urdf I reused.

Demo

https://youtu.be/XInSYrOIZGQ

How to launch the project

cd <catkin_ws>/src
git clone https://github.com/ddonatien/double_panda.git
cd ..
catkin_make ## or catkin build

Open 3 terminals (from your catkin_ws) and follow the instructions in order :

Terminal 1

export WEBOTS_HOME=/usr/local/webots ## or your usual WEBOTS_HOME
source devel/setup.bash
roslaunch double_panda panda_world.launch

Terminal 2

source devel/setup.bash
roslaunch double_panda move_group.launch

Terminal 3

source devel/setup.bash
roslaunch double_panda moveit_rviz.launch

You can also control the robot with Rviz using

source devel/setup.bash
roslaunch double_panda moveit_rviz.launch

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