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Commit 0e448947 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
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graph::helper handles cases with no grasp or no placement.

* No grasp: when the robot has contact surface to be put somewhere
* (humanoid feet, for instance)
* No place: when an object has 2 handles and is already grasped on one
* handle, grasping the object on the other handle does not require
* placement.
parent 26d37b5e
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