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Thanks for jker's question and hsiao's answer. I was facing the same problem, and tried to find manipulation_worlds package for hints as hsiao suggested... but it is no longer in pr2_object_manipulation stack. Also there are some problems with ros wiki these days so the page for manipulation worlds cannot be opened. Finally I find the code here. Note that it is a really short piece of code that loads the grasp-hack plugin, which is contained in gazebo package. Just share this information for anyone who is confused about this.