We demonstrate the advantages of using two robotic arms simultaneously in tight assembly operations. We provide a new end-to-end framework which outputs an execution plan for the robotic arms given the digital CAD models of the arms and of the assembly parts. Our method is implemented both in simulation and in real-life, with theoretical and empirical guarantees on its performance. In particular, we show that simultaneous movement of two arms significantly reduces execution time, produces trajectories of higher quality, and accelerates the search time for valid robot placements. Furthermore, we provide guarantees on the bounds of the required dimensions of the robotic cell. Full video clips of all the assembly demonstrations together with our open source software are available at https://tau-cgl.github.io/Advantages-of-using-two-robotic-arms-for-tight-assemblies.
