[ros-users] [Discourse.ros.org] [robot description formats] Add attribute to indicate if a mesh is a convex hull?

[Levi Armstrong]

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" />`

The use-case here is to utilize this information in planners / collision checkers that can enable certain optimizations when the meshes they are passed are convex. One example would be FCL, which has optimized implementations for convex-convex algorithms. (Comment on GitHub by gavanderhoorn)

https://github.com/ros/urdfdom/issues/108





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