# Dual-Arm ECTS Example Overview

Overview for `examples/09_dual_arm_ects.py`.

## What It Demonstrates

- Coordinated dual-arm manipulation with ECTS task formulation
- Orthogonal and blended coordination modes
- Absolute and relative tool-frame objectives
- Dual-arm collision handling and mode-snap behavior

## Highlights

- Interactive object and grasp markers in Viser
- Nullspace objective selection
- Relative bounds constraints and IK tuning controls

## Run

```bash
pixi run python examples/09_dual_arm_ects.py
```
