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haosulab / MPlib

a Lightweight Motion Planning Package
https://motion-planning-lib.readthedocs.io/
MIT License
97 stars 16 forks source link

One link multiple geom #77

Closed Lexseal closed 2 months ago

Lexseal commented 3 months ago

Made a wrapper called FCLObject. Did check out Moveit's implementation, but their stuff is broadphase only. This API should be pretty intuitive too. Probably will add documentation as needed but please check it out for suggestions.

KolinGuo commented 2 months ago

Merging this. @Lexseal Don't forget to check my work