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hi martin,

if you are interested in the planning part of openrave, we would be glad to help set up all the necessary ROS service calls to get it working with the katana arm. currently the orrosplanning/armplanning_openrave.py script only supports the CollisionMap message, but we can add any messages you feel are important for discovering the collision world.

Although you might have many plans for OMPL and OMPL may support many cool features, we can help you reduce the time to setup planning for your system.

any model files you can send would be helpful.

thanks,