Documentation: RobotLocomotion/drake@8ff4cbb

Author: drake-jenkins-bot

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@@ -340,6 +340,17 @@ <h2 id="brom_drake-a-helper-library-for-pydrake-python">brom_drake: A Helper Lib
 
 <p><em>Source Code:</em> <a href="https://github.com/kwesiRutledge/brom_drake-py">https://github.com/kwesiRutledge/brom_drake-py</a></p>
 
+<h2 id="constrained-bimanual-planning">Constrained Bimanual Planning</h2>
+
+<p>This example demonstrates planning motions for a bimanual iiwa setup, such that the relative pose of the two end-effectors remains fixed.
+It uses analytic inverse kinematics, together with Drake’s trajectory optimization algorithms, to efficiently produce collision-free, kinematically valid trajectories.</p>
+
+<p><img class="gallery" src="https://raw.githubusercontent.com/cohnt/constrained-bimanual-planning-example/main/other/plan.gif" /></p>
+
+<p>Thomas Cohn, Seiji Shaw, Max Simchowitz, Russ Tedrake. “Constrained Bimanual Planning with Analytic Inverse Kinematics.” ICRA, 2024.
+Peter Werner, Thomas Cohn, Rebecca Jiang Tim Seyde, Max Simchowitz, Russ Tedrake, Daniela Rus. “Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space.” ISRR, 2024.</p>
+
+<p><em>Source Code:</em> <a href="https://github.com/cohnt/constrained-bimanual-planning-example">https://github.com/cohnt/constrained-bimanual-planning-example</a></p>
 
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