Now for all the backends, we have remove_attached_collision_mesh, which will make the object disappear from the scene (exactly as the function name tells us).
However, in many use cases like pick-and-place, whenever the robot release an attached object at hand, we want to leave it at its current pose., and at the same time the attached object is demoted to a collision object, which should be considered as a part of the scene. So should we have a function like detach_attached_collision_mesh for the backend?
Now for all the backends, we have
remove_attached_collision_mesh, which will make the object disappear from the scene (exactly as the function name tells us).However, in many use cases like pick-and-place, whenever the robot release an attached object at hand, we want to leave it at its current pose., and at the same time the attached object is demoted to a collision object, which should be considered as a part of the scene. So should we have a function like
detach_attached_collision_meshfor the backend?Victor and I have been using this feature in
compas_fab_pychoreofor his recent integral timber joint prototype with clamps: https://github.com/yijiangh/compas_fab_pychoreo/blob/master/src/compas_fab_pychoreo/client.py#L165 and it has been working pretty well for us. I'm wondering if anyone else would benefit from a feature like this.