Planning monkey-like movement with MoveIt

edit

Hi there,

I have a robot that is much like the top half of a money, it moves from tree to tree by fixing one gripper then putting the other gripper out in front of it.

The kinematic chain is gripper1-wrist-arm-arm-wrist-gripper2.

I have been able to import the model from SolidWorks into MoveIt and plan for one side of the robot, eg gripper2 given gripper1 is fixed.

How can I change which gripper is fixed to allow me to plan for the opposite side and in doing so plan onward movement. In other words, after i have planned where i want gripper2 to be (with gripper1 fixed), how then can i fix gripper2 and plan for gripper1?

NB: If you are particularly interested in viewing the robot you can do so here: video

Regards,

Chris.