Index: pr2_arm_navigation_actions/launch/environment_server_right_arm.launch
===================================================================
--- pr2_arm_navigation_actions/launch/environment_server_right_arm.launch	(revision 49815)
+++ pr2_arm_navigation_actions/launch/environment_server_right_arm.launch	(working copy)
@@ -6,7 +6,7 @@
     <remap from="collision_map" to="collision_map_occ" />
     <remap from="collision_map_update" to="collision_map_occ_update" />
     
-    <param name="group" type="string" value="right_arm" />
+    <param name="group" type="string" value="right_arm_planar" />
     <param name="allow_valid_collisions" type="bool" value="false" />
 
     <param name="collision_map_safety_timeout" type="double" value="100000.0" />
Index: pr2_arm_navigation_actions/launch/move_right_arm.launch
===================================================================
--- pr2_arm_navigation_actions/launch/move_right_arm.launch	(revision 49815)
+++ pr2_arm_navigation_actions/launch/move_right_arm.launch	(working copy)
@@ -14,10 +14,9 @@
     <remap from="get_robot_state" to="environment_server_right_arm/get_robot_state" />	
     <remap from="get_state_validity" to="environment_server_right_arm/get_state_validity" />	
 
-    <param name="group" type="string" value="right_arm" />
+    <param name="group" type="string" value="right_arm_planar" />
     <param name="ik_allowed_time" type="double" value="2.0" />
     <param name="trajectory_filter_allowed_time" type="double" value="2.0" />
-    <param name="group" type="string" value="right_arm" />
     <param name="controller_action_name" type="string" value="/r_arm_controller/joint_trajectory_action" />
 
   </node>
Index: pr2_arm_navigation_config/config/planning_groups.yaml
===================================================================
--- pr2_arm_navigation_config/config/planning_groups.yaml	(revision 49815)
+++ pr2_arm_navigation_config/config/planning_groups.yaml	(working copy)
@@ -55,6 +55,23 @@
       r_forearm_cam_frame
       r_wrist_flex_link
       r_wrist_roll_link
+
+  - name: right_arm_planar
+    joints:
+      r_shoulder_pan_joint
+      r_elbow_flex_joint
+      r_wrist_flex_joint
+    links: 
+      r_shoulder_pan_link
+      r_shoulder_lift_link
+      r_upper_arm_link
+      r_upper_arm_roll_link
+      r_elbow_flex_link
+      r_forearm_link
+      r_forearm_roll_link
+      r_forearm_cam_frame
+      r_wrist_flex_link
+      r_wrist_roll_link
       
   - name: arms
     joints: 
Index: pr2_arm_navigation_planning/config/ompl_planning_configs.yaml
===================================================================
--- pr2_arm_navigation_planning/config/ompl_planning_configs.yaml	(revision 49815)
+++ pr2_arm_navigation_planning/config/ompl_planning_configs.yaml	(working copy)
@@ -2,7 +2,7 @@
 
 ## the list of groups for which motion planning can be performed
 group_list:
-  right_arm left_arm
+  right_arm left_arm right_arm_planar
 
 ## the planner configurations; each config must have a type, which specifies
 ## the planner to be used; other parameters can be specified as well, depending 
@@ -100,6 +100,10 @@
   - name: right_arm
     planner_configs:
       RRTkConfig2 SBLkConfig2 KPIECEkConfig1 KPIECEkConfig2r LBKPIECEkConfig2r armIKConfig1
+
+  - name: right_arm_planar
+    planner_configs:
+      RRTkConfig2 SBLkConfig2 KPIECEkConfig1 KPIECEkConfig2r LBKPIECEkConfig2r armIKConfig1
       
   - name: arms
     planner_configs:
Index: pr2_arm_navigation_tutorials/src/move_arm_joint_goal.cpp
===================================================================
--- pr2_arm_navigation_tutorials/src/move_arm_joint_goal.cpp	(revision 49815)
+++ pr2_arm_navigation_tutorials/src/move_arm_joint_goal.cpp	(working copy)
@@ -5,22 +5,18 @@
 int main(int argc, char **argv){
   ros::init (argc, argv, "move_arm_joint_goal_test");
   ros::NodeHandle nh;
-  actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> move_arm("move_right_arm",true);
+  actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> move_arm("move_right_arm_planar",true);
 
   move_arm.waitForServer();
   ROS_INFO("Connected to server");
 
   move_arm_msgs::MoveArmGoal goalB;
-  std::vector<std::string> names(7);
+  std::vector<std::string> names(3);
   names[0] = "r_shoulder_pan_joint";
-  names[1] = "r_shoulder_lift_joint";
-  names[2] = "r_upper_arm_roll_joint";
-  names[3] = "r_elbow_flex_joint";
-  names[4] = "r_forearm_roll_joint";
-  names[5] = "r_wrist_flex_joint";
-  names[6] = "r_wrist_roll_joint";
+  names[1] = "r_elbow_flex_joint";
+  names[2] = "r_wrist_flex_joint";
 
-  goalB.motion_plan_request.group_name = "right_arm";
+  goalB.motion_plan_request.group_name = "right_arm_planar";
   goalB.motion_plan_request.num_planning_attempts = 1;
   goalB.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
 
@@ -37,8 +33,8 @@
   }
     
   goalB.motion_plan_request.goal_constraints.joint_constraints[0].position = -2.0;
-  goalB.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2;
-  goalB.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.15;
+  goalB.motion_plan_request.goal_constraints.joint_constraints[1].position = -0.2;
+  goalB.motion_plan_request.goal_constraints.joint_constraints[2].position = -0.15;
    
   if (nh.ok())
   {