Plan with multiple groups
=========================

This example runs with the Franka Duo. On multi-arm robots the kinematics
handle has no unambiguous default planning group, so call
``kinematics.group(name)`` to bind each arm. Bound handles share the same
lazily cached robot model; end-effector access, ``pose()``, and ``move_*``
then target that group.

Hand groups (for named ``open`` / ``close`` states) remain accessible through
``kinematics.model.group(...)`` (Python) or ``(await kinematics.getModel()).group(...)``
(TypeScript).

.. tab-set::
    :sync-group: sdk-language

    .. tab-item:: Python
        :sync: python

        .. literalinclude:: scripts/kinematics-multiple-groups.py
           :language: python

    .. tab-item:: TypeScript
        :sync: typescript

        .. literalinclude:: scripts/kinematics-multiple-groups.ts
           :language: typescript