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Hi Stefan,

Could you please ask future MoveIt! related questions on the moveit-users mailing list: moveit-users@googlegroups.com. Its easier for us to track MoveIt! specific questions there.

It would be unsafe for us to clear a goal state like you suggested - how do we know whether that's an actual obstacle or something that comes from noise? We are working on alternatives that would let you plan away from contact positions or towards contact positions, but this will take some time and won't be available immediately.