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Hi Fei,

i just wanted to tell you that we (Martin and I) just pushed the latest version of our katana_driver stack, which now supports constraint aware motion planning for our arm.

The set up is the following:

• we fully specified the arms kinematics in a urdf file and coverted file into the collada format from which openrave then computed the analytical solution cpp files(see katana_description)
• then we implemented a kinematics plugin (as Gil suggested above), which does not calls the generated cpp files directly, but via the orroplanning/IK service specifiying to use the TranslationDirection5D IK type (see katana_openrave_kinematics)
• we then use the plugin with the arm_kinematics_constraint_aware node from the same package to establish all necessary service (see katana_openrave_kinematics)

with this set up we are now able to use OMPL within our for our arm navigation. I hope looking through our files will help you setting up your arm. We also included some code for testing within the katana_openrave_test package.

Please feel free to e-mail me if you could need more detailed support or in cases you find some bugs or other ideas for improvement.

Greetings from Osnabrück, Henning