[Question] Best Practices for Dual-Arm Manipulator Setup in IsaacLab

[virgilio96upm]

Question

Hello everyone,

I'm starting to work on a dual-arm manipulator using two UR3e arms in IsaacLab, and I have some questions regarding the best approach to define the robot in the environment.

1. Would it be better to model the system as a multi-agent environment, where each arm is treated as an independent agent, or as a single robot description with both arms combined?
2. If I define each arm as an independent agent, would they be able to interact in parallel to accomplish a cooperative task, such as lifting an object together?

I appreciate any insights or recommendations on best practices for this setup.

Thank you for your help!

[RandomOakForest]

Thank you for posting this. This is a great post for our Discussions section. I'll move this question there for the team to follow up.

[RandomOakForest]

Following up, both alternatives in (1) seem similar and should be fine. You may side with what is easier to implement. However, using the later option will avoid dealing with the complexity of (2). Having said that, if you try both approaches we would welcome your review of this tasks in our show-and-tell section.