Give motion_primitive, mode, object, etc values via arguments.
roslaunch panda_moveit_control stomp_execution.launch [args]
For example, for the door opening task(sink_door)
roslaunch panda_moveit_control stomp_execution.launch motion_primitive:=opening mode:=rotating_left object:=sink_door
To change the path to the object/environment mesh, change arguments in operate_planning_scene.launch.