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

[Georg Bartels]

Not a URDF maintainer here, just interested by-stander. 

Wouldn't the elegant approach be to extend any collision checker that supports such optimized checks with a checking function that evaluates whether a given mesh is convex? Like that, the checker could decide whether or not to run the algorithms optimized for convex meshes upon loading of the meshes.





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