Configuration files for CHOMP with UR5

[eld4niz]

I'm currently trying to configure the CHOMP motion planner with IDMP and UR5 robotic arm, but I'm missing configuration files and details about it in README.

Can you please update the repository for that?

[Usaali]

Hi in our paper we used chomp from the ROS MoveIt package and adjusted it for the use with our distance field. This is not part of this repository, nor are we planning to include it. It was more of a proof of concept that IDMP is fast enough to be integrated in a planning pipeline.

As Chomp is completely independent from IDMP, it does not need special configuration. To use the distance field with any chomp or gradient based planner implementation, call the service for IDMP to query the needed trajectory points and optimize your trajectory using that.

I hope this helps!