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Hi,

I'm trying make a planning scenary with some attached objects on the table, and try to collect all of them and push into a "trash".

I'm some confused about attached and non attached objects and how integrated it in the scenary. In adition, when I attach a object to the pr2 hand, I don't know how change the scenary for a new request ompl plan.

Could you help me, with some notions or a "template scheme"

Regards.