I was learning to use moveit but i have got some of doubts:
1. What is maximum degree of freedom of robot joint where it can be used? As i saw [here](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/ikfast_tutorial.html) it is saying that for arms with > 7 DOF it donot works. Does this means that arms with DOF>7 cant use moveit.
2. How complicated motion planning or obstacle avoidance can it do? For example if i have robot similar to human hand than can it make it grab all objects from every possible way in which humans can do avoiding other collision objects in its path?
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