[extrusion] check EE collision with currently extruded element

yijiangh / pychoreo

python implementation of choreo: a sequence and motion planning algorithm for discrete architectural assembly

MIT License

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[extrusion] check EE collision with currently extruded element #2

Open yijiangh opened 5 years ago

yijiangh commented 5 years ago

Currently, there is no check to prevent EE colliding with the element. The following situation might prevent transition planning from working since the initial pose is in collision with the element.