Bimanual Constraint

[ShrutheeshIR]

Thanks for the cool repo!
I'm working on a transport task for a bimanual robot (2 frankas ). Pick up the box on two ends, and get a motion plan for config A to B, but with a bimanual constraint -- i.e. the relative pose between the two arms is fixed.

Is such a setup possible with curobo? Does it support bimanual constraints straight out of the box, or is it straightforward to set up?

Thanks