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Hi,

Sure you can do it, for now there is only one group for each kinematic chain but you can add groups in the srdf file in the config folder.

There are some examples of complete body motion planning for other robots. (here HRP2 https://github.com/davetcoleman/moveit_hrp2/blob/master/hrp2jsknt_moveit_config/config/HRP2JSKNT.srdf)

You could do it with multiple move groups but it will certainly take you a lot more time.

Hope this helps,