Biped (Dual Arm) planning in MoveIt - How to?
Hi All,
I have a dual arm biped system as shown in MoveIt here:
The system works by having one arm grasping a support whilst the other reaches out for another. Switching between the two, locomotion is carried out.
The problem i have is that I have only been able to move the robot from the same gripper, i can't switch which one is stationary from which the rest of the joints should be calculated.
How can I plan trajectories for this system?? I intended to plan from one gripper, obtain a new support, change the fixed gripper to the other side, the plan again from this new point.
Any help is much appreciated.
Regards,
Chris.
I haven't used Moveit! much but have you tried making two separate move groups? E.g. one's base link is one gripper, and the other's base link is the other gripper.
Given that this system actually matches the legs of a humanoid biped from the waist down, is it possible to use their approach? How do users do planning for the humanoids?
I believe they do as I was suggesting, using different move groups.