Hello,
I'm using MoveIt to move a hexapod robot. My question, is what should the end effector be in the case of a hexapod? I know that each leg has an end-effector, and I already can control each leg individually, but how can I control the robot as a whole? But this I mean move the robot up, down, rotate, etc.
Another question, Is possible to generate gaits for the robot movment using move it? If so, how can I design this?
URDF Image: https://drive.google.com/open?id=0BwhVlfCneW8eVFFBRUtpc3ZhZFE
MoveIt Setup: https://drive.google.com/file/d/0BwhVlfCneW8ecG9KZUNBZElkMlU
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