Hi,
I intend to raise a a question similar to a previous question I had, see: [link](http://answers.ros.org/question/194761/biped-dual-arm-planning-in-moveit-how-to/)
We have a biped system that consists of two grippers. One gripper is locked whilst the over maneuvers into position to grasp a target. Once grasped, the first gripper is then released and can move to a new location. This is how locomotion occurs. See here for more details: [Conf Paper](http://dx.doi.org/10.1109/CoASE.2014.6899446)
In the image below we term the gripper on the left "Gripper 1" whilst the gripper on the right is termed "Gripper 2".
We desire to use ROS to compute the joint trajectories and execute these on the machine.
The machine can be broken into two serial, kinematic chains with a resultant URDF for each of the chains Gripper 1 -> Gripper 2 and Gripper 2 -> Gripper 1.
Using this methodology the paths can be computed for each side **INDIVIDUALLY**. The URDF is manually loaded depending what side should be planned. Therein is the problem.
Our problem seems very close to that of a humanoid biped in which foot placement is considered, rather than our grippers.
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How would users suggest that ROS be used in order to calculate the motion plan for either side?
We have already had some concepts, but would appreciate input from the larger ROS audience:
1. Could the URDF be changed dynamically depending what kinematic chain should be planned?
2. Can this simply be done with different move groups?
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A note regarding move groups: Our previous attempt to use this was halted since it appeared that the specifying the chain to be from a child to a parent would not work. Chains specified from parent to child, as usual, worked fine but this can only be used for one side (Eg Gripper 1 -> Gripper 2)
Thanks in advance.
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