In my application, I sometimes have to do computations on the mesh before adding it in the collision scene. To avoid loading a mesh twice, this PR allows users to either pass in the mesh filepath, or pass in the mesh itself.
Testing
[x] Launch the simulated panda arm: ros2 launch panda_moveit_config ex_fake_control.launch.py
[x] Add a collision mesh, verify it works: ros2 run pymoveit2 ex_collision_mesh.py --ros-args -p position:="[0.5, 0.0, 0.5]" -p quat_xyzw:="[0.0, 0.0, -0.7071, 0.7071]" -r preload_mesh:="True"
Description
In my application, I sometimes have to do computations on the mesh before adding it in the collision scene. To avoid loading a mesh twice, this PR allows users to either pass in the mesh filepath, or pass in the mesh itself.
Testing
ros2 launch panda_moveit_config ex_fake_control.launch.pyros2 run pymoveit2 ex_collision_mesh.py --ros-args -p position:="[0.5, 0.0, 0.5]" -p quat_xyzw:="[0.0, 0.0, -0.7071, 0.7071]" -r preload_mesh:="True"