Example of dual-arm diff IK in Drake, with slight modification for collision avoidance.
This formulation is not "perfect" yet, as it can still have odd behavior in certain locations.
Note that this only focused on kinematic control, focused on a dual-arm system. For model-based torque control of a single-arm system, see: https://github.com/EricCousineau-TRI/drake_torque_control_study
Be sure you have poetry: https://python-poetry.org
poetry install# For each terminal.
poetry shell
# (Separate terminal) Visualizer
python -m pydrake.visualization.meldis -w
# (Main terminal) Running
python ./scripts/main_example.py