Dual-Arm Franka

Watch task execution on dual-arm Franka. For installation, calibration, motion checks, and operation, see Dual-Arm Franka Deployment.

Sorting Dishes After a Goal Change

The task asks the robot to put dishes in a cardboard box. RPent observes the scene, locates the plate and destination, and adjusts subsequent actions using the execution results.

Pouring, Wiping, and Storage

RPent combines grasping, placing, and dual-arm coordination to pour steel beads, wipe a plate, and put objects away. The video shows tool composition and execution across these tasks.