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Chris

Guaranteeing an Approach Location Directly Above a Pick Location

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While there is no way to directly specify this constraint right now, there are a couple ways to achieve the same effect.
 
1) Put two different regions above each other. If you only want vertical connections, then set internal density to None, and External to Sparse. It should connect each node with the closest other node. This should result in only vertical edges, as shown in the snapshot below. If one of the vertical connections is not possible due to self-collision or something, it may create a diagonal edge.
 
 
image.png
 
2) If you end up with diagonal edges you don't like, in your runtime program you can plan in two stages. First plan to the location directly above your pick location, which should find the node directly above it, and then plan straight down along that vertical edge. 

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