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Hi Günther,

I don't know the answer to your first two questions, but you might want to check out MoveIt for the third question. It has some tutorials specific for the pr2, but can be used with other robots also and it can be used for pick and place operations.
If you have any questions about it you can ask in the google group or if you ask me I'll answer if I can.

Have a great day, Tiago Pimentel

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