Hi,

I am using the PR2 for manipulation tasks and I would like to be able to plan for the PR2 base and arms at the same time, preferably using OMPL. I have been looking at the omplrosinterface and it seems primarily geared towards kinematic planning from a fixed base. Specifically, the KinematicsBase plugin functions do not appear to support multi-DOF joints. Is there support for this somewhere?

Thanks, Jenny