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moveit / moveit_resources

URDFs, meshes, and config packages for MoveIt testing
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Add stomp config #171

Closed sjahr closed 1 year ago

sjahr commented 1 year ago

Config for stomp that can be used for example like this:

     moveit_config = (
         MoveItConfigsBuilder("moveit_resources_panda")
         .robot_description(file_path="config/panda.urdf.xacro")
         .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
         .planning_pipelines("stomp", ["stomp"])
         .moveit_cpp(
             file_path=get_package_share_directory("moveit2_tutorials")
             + "/config/moveit_cpp.yaml"
         )
         .to_moveit_configs()