Open Levi-Armstrong opened 6 years ago
Hi @Levi-Armstrong, did you have a particular use-case? It might be a topic worth opening up on https://discourse.ros.org/c/robot-description-formats
The use-case here is to utilise this information in planners / collision checkers that can enable certain optimisations when the meshes they are passed are convex. One example would be FCL, which has optimised implementations for convex-convex algorithms.
As this is a property of the mesh that is difficult/impossible to derive at runtime, adding an optional attribute to the mesh
element seems like a straightforward way to encode it.
@sloretz As @gavanderhoorn mentioned this is the main factor. Most of the collision libraries use libccd to perform convex-convex collision checking and it also provides the minimum translation vector when in collision which would could be used by several optimization based motion planners.
Hi @Levi-Armstrong, did you have a particular use-case? It might be a topic worth opening up on https://discourse.ros.org/c/robot-description-formats
Thread on discourse: https://discourse.ros.org/t/add-attribute-to-indicate-if-a-mesh-is-a-convex-hull/4479
Would the maintainer be open to adding an an attribute to the mesh tag indicating if the mesh is a convex hull? The default would be false.
<mesh filename="" convex="true" />