Chris Booth - I have noticed You found my video of two CP robots in cooperation. this was part of the training I did for system integrator to implement robots in this application
I have some real life experience in cooperative motion so feel free to ask if any help is needed.
Actually it would be helpful if you could share the master and slave programs from that application! Or the parts between 'MASTER' and 'ALONE on the master program and between 'SLAVE' and 'ALONE' on the slave side.
One of the great things about your video is that it's clear to see what each axis is doing, so it should be possible to appreciate the code.
More than anything I'm interested in how a 'non-kawasaki' workflow (Rhino/Grasshopper/HAL Robotics Framework) could be set up to get code generated ready for cooperative motion.