> Have you noticed how in second 13 it rotates the lower body clockwise while the upper body rotates counter-clockwise in order to optimize the movements to arc

> Have you noticed how in second 13 it rotates the lower body clockwise while the upper body rotates counter-clockwise in order to optimize the movements to archive the goal? Could be a fancy optimization of course, but could as well be a side effect of a decoupled planning of the locomotion part and the upper body pick and place. Algo could be: plan a path for a lower body motion from pose (4dof) A to pose B. And given pose B plan the upper body place of the tray in the target. If no constraints are broken plan both in parallel so it looks like one smooth behavior. Obviously, I don’t know :)