Added single and dual arm (bimanual) mink IK implementations for franka fr3 and piper robotic arms #67
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Hi @aman-pandey23, apologies for the delayed review. Since we merged #68, do you wanna turn this PR into just a dual piper example so we don't repeat the dual panda one? |
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Hi! I’m a researcher at a lab under IISc Bangalore, where we’ve implemented Mink IK for bimanual teleoperation with Franka FR3 and Piper arms. This PR introduces simulation implementations of Mink IK for both single and dual-arm configurations of the fr3 and piper arms, incorporating velocity limits and collision avoidance with the base surface. Feedback and suggestions are greatly appreciated!
P.S: The images are not from the home configurations.
fr3 dual
fr3 single
piper dual
piper single
