The robot is equipped with two arms, each arm with 7 DOF. Such arms offer lot of possibilities. However IK (Inverse kinematics) software is required to bring the end-effector at the right position.
This video shows a test of the Inverse kinematics software involving the two arms and the articulated torso.
First end-effectors are positionned and then the torso is moving while the end-effectors (almost) keep the pose.
I am writing a document describing the IK for the whole robot (Torso, Arms and legs). It is a mix of closed form and geometric solutions. If anyone is interested please leave me a message.