It seems like moveit can be used only for arm having single chain. but i want my robot to grasp all those things which human hand can grasp like knife, gun or machine gun, cup and other tools. But after studying moveit i found that if a robot arm contains multiple chain like fingers than it do not works fine. So is moveit suitable for this type of application? Like below:
I am trying to make similar arm with urdf and trying to simulate it in gazebo to do the human hand thing.
A ros node running computer vision codes will first detect a 3d object with its oriantation and position. Than by specifying the pose and oriantation of each fingers of robot i want the moveit to plan the trajectory for that with obstacle avoidance than grab the tool exactly as specified in the action client node. Currentely my [computer vision program](https://www.youtube.com/watch?v=ad_Zxw0N2hc) is only able to detect one object with its oriantation and position and will work further after understanding this ros controllers, actions, trajectory msgs everything. And since this program can also do object classification it will detect and save the grasping and movement position of object and than latter same action can be done by using the previous learned(saved) data's. I'm really happy that i found ROS(open source :>)
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