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I patched object_manipulator in Fuerte trunk (0.6 branch) to make the plugin name a param. Please let me know if it doesn't meet your needs. (I'll release soon--Fuerte debs in shadow-fixed are all screwed up at the moment, waiting for that to be fixed.)

Sorry I didn't see your post until now--all ROS Answers emails were going straight to my spam folder. :P

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