Setting end effector constraints when using STOMP

[ghost]

Hi all,
I'm trying out STOMP as per the tutorial here, but havent figured out how to set orientation constraints for the end effector so that it maintains a certain orientation throughout the trajectory. Is it possible to set this via yaml?

[Levi-Armstrong]

I don't believe this is currently implemented. You will need to write a noisy generator plugin that generator states that satisfy your constraints. You could get this from moveit ompl constraint sampler. Then may need a custom plugin for merging the noisy trajectories but not certain this plugin would be needed.

[ghost]

Thank you for the reply Levi. Would this link be a good starting point?

[jrgnicho]

This issue is partially addressed now in that you can set orientation constraints on the cartesian goal however STOMP won't apply this to the rest of the waypoints in the trajectory.

[ib101]

Any update on this? Would love to use STOMP, its STOMP-tastic!

[jrgnicho]

Hello @ib101 , the stomp planner packages have been moved into their own repository. As far as I know, no one at the moment is working on such a feature but you're welcome to submit a PR for this in the new repo.