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.
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