Is there a way to plan given an end-effector goal pose with a group that is a tree (not a chain)?
Based on the info here Understand end effector setup · Issue #1694 · ros-planning/moveit · GitHub the answer is “no” but I find that hard to believe. Is there a workaround? When I try to do this, the rviz plugin lets me drag around the end effector (lets say the right gripper) and plan just fine, but it does not make use of the torso joints (even though they are in the group). In python, when I try to set end-effector it throws an error.