Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* 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.

Joseph Mirabel authored 9 years ago and Joseph Mirabel committed 9 years ago

* Loop edges have a 0 probability of being sampled.
* Waypoint edge are now short