How to control two robots in the same time with MoveIt?

Hi !

I’m trying to control two different robots in simulation with MoveIt. (Staubli TX2-60L and TX2-90L).
I’ve made one URDF file with two robots. In the MoveIt configuration I’ve made two move group (one for each robot). But when I try to move in the same time the robots with python script, it doesn’t work. Just one robot is moving.

Do you have an idea ?

Thank you !

Normally eahc arm is controled separately, as if it was another robot. That would be the fastest way of having it running. Moveit with multiple apendages.

But its been done, have a look at bipedal planning with moveit:

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