The tutorial on generating a motion policy & RMPFlow notes that the inputs of “World State” only considers primitives for object avoidance, like spheres. Mesh avoidance is not yet supported.
Could a multitude of spheres be applied to a mesh to approximate its surface and used for the world state in Motion Policy & RMPFlow? In a similar way as the Lula Robotic Description Editor generates collision spheres. Any suggestions on a tool to do this or feedback on this strategy?
Additionally, is there any timeline for the mesh avoidance to be supported by LULA / RMPFlow?