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yijiangh / choreo

Choreo: robotic motion planning platform for discrete architectural assembly
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[PickNPlace] 3 new CLT-RRT* interface and computation core #107

Closed yijiangh closed 6 years ago

yijiangh commented 6 years ago

change CLT-RRT* in descartes, especially use AllowedCollisionMatrix (ACM), see also #104. Might be a good idea to incorporate approach and retreat to descartes.