Extended Graph build for descartes

yijiangh / choreo

Choreo: robotic motion planning platform for discrete architectural assembly

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Closed yijiangh closed 7 years ago

yijiangh commented 7 years ago

alt text

Ref to issue discussion in descartes repo: #200

yijiangh commented 7 years ago

Updated graph building concept.

yijiangh commented 7 years ago

Further simplified... No crossover egde in retract process...

yijiangh commented 7 years ago

TODO:

[x] Add test bed model to enable its collision checking
[ ] Port seed cost for searching, used in godel (code), in yijiangh/graph descartes branch. (might help?)
[x] How can we update planning scene's collision model, if we want to make all planning in one single ladder graph?