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gramaziokohler / integral_timber_joints

Robotic Assembled Timber Structures with Integral Timber Joints
MIT License
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Difficult to plan Free Movements in CantiBox #159

Closed yck011522 closed 2 years ago

yck011522 commented 2 years ago

Some of the difficult to plan Free Movements:

(MovementIndex=995) RoboticFreeMovement(#A216_M0, Free Move to bring Beam ('b15') to assemble_approach position on structure)
(MovementIndex=1087) RoboticFreeMovement(#A235_M0, Free Move to bring Beam ('b16') to approach clamps on structure.)
(MovementIndex=1144) RoboticFreeMovement(#A250_M0, Free Move to bring Beam ('b17') to assemble_approach position on structure.)
yck011522 commented 2 years ago

The newly implemented LMG and FMG planning makes life slighlty easier. And then human in the loop intermediate waypoint helps the difficult ones.