Simple Collision Meshes

[kbrameld]

Summary

The visual and collision meshes are identical, leading to expensive collision checking in collision checking libraries such as FCL. Having decimated meshes, or primitive geometric collision meshes would improve collision checking / motion planning significantly.

[martinleroux]

Hi @kbrameld ,

I understand the need here and have placed a request to our engineering team. However, at this time I can't give a timeline for when it would be available. I honestly can't promise that it will be done. I will leave this issue open to track the request.

Anyone seeing this and agreeing that it would be a useful improvement for your work, please comment with "+1". The number of people requesting improvements can help us prioritize the development of features.