URDF supports only tree structure. SDF support graph structure but it is only for simulation. Moveit supports only URDF so I think I cant use it for motion planing (except if I close it with maths, witch is difficult). I think collada files supports closed loop chain but can I use it on ROS Moveit? Collada is working well with OpenRave but can it communicate with ROS so I can link it with my robot? This is the robot structure:
Is there any way to suggest me how I can do motion planing with closed loop chain?
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