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Again very late reply -- Your intuition is correct. StateSampler is the way to go. However, that is not exposed in the ompl_ros_interface. However, in MoveIt (the replacement for arm_navigation) there is the option to supply your own state sampler. The API for that is a bit simpler right now, but the intention for it is to be essentially a wrapper for StateSampler, so you can implement functionality such as the one mention.

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