Add convex argument to PlanningWorld::attachMesh

include/mplib/planning_world.h

@@ -342,9 +342,10 @@ class PlanningWorldTpl {
    * @param art_name: name of the planned articulation to attach to
    * @param link_id: index of the link of the planned articulation to attach to
    * @param pose: attached pose (relative pose from attached link to object)
+   * @param convex: whether to load mesh as a convex mesh. Default: ``false``.
    */
   void attachMesh(const std::string &mesh_path, const std::string &art_name,
-                  int link_id, const Pose<S> &pose);
+                  int link_id, const Pose<S> &pose, bool convex = false);
 
   /**
    * Detaches object with given name.

mplib/pymp/__init__.pyi

@@ -394,7 +394,13 @@ class PlanningWorld:
         :param pose: attached pose (relative pose from attached link to object)
         """
     def attach_mesh(
-        self, mesh_path: str, art_name: str, link_id: int, pose: Pose
+        self,
+        mesh_path: str,
+        art_name: str,
+        link_id: int,
+        pose: Pose,
+        *,
+        convex: bool = False,
     ) -> None:
         """
         Attaches given mesh to specified link of articulation (auto touch_links)
@@ -403,6 +409,7 @@ class PlanningWorld:
         :param art_name: name of the planned articulation to attach to
         :param link_id: index of the link of the planned articulation to attach to
         :param pose: attached pose (relative pose from attached link to object)
+        :param convex: whether to load mesh as a convex mesh. Default: ``False``.
         """
     @typing.overload
     def attach_object(

pybind/docstring/planning_world.h

@@ -88,7 +88,8 @@ Attaches given mesh to specified link of articulation (auto touch_links)
 :param mesh_path: path to a mesh file
 :param art_name: name of the planned articulation to attach to
 :param link_id: index of the link of the planned articulation to attach to
-:param pose: attached pose (relative pose from attached link to object))doc";
+:param pose: attached pose (relative pose from attached link to object)
+:param convex: whether to load mesh as a convex mesh. Default: ``False``.)doc";
 
 static const char *__doc_mplib_PlanningWorldTpl_attachObject =
 R"doc(

pybind/pybind_planning_world.cpp

@@ -119,8 +119,8 @@ void build_pyplanning_world(py::module &pymp) {
            py::arg("art_name"), py::arg("link_id"), py::arg("pose"),
            DOC(mplib, PlanningWorldTpl, attachBox))
       .def("attach_mesh", &PlanningWorld::attachMesh, py::arg("mesh_path"),
-           py::arg("art_name"), py::arg("link_id"), py::arg("pose"),
-           DOC(mplib, PlanningWorldTpl, attachMesh))
+           py::arg("art_name"), py::arg("link_id"), py::arg("pose"), py::kw_only(),
+           py::arg("convex") = false, DOC(mplib, PlanningWorldTpl, attachMesh))
       .def("detach_object", &PlanningWorld::detachObject, py::arg("name"),
            py::arg("also_remove") = false, DOC(mplib, PlanningWorldTpl, detachObject))
       .def("print_attached_body_pose", &PlanningWorld::printAttachedBodyPose,

src/planning_world.cpp

@@ -216,13 +216,19 @@ void PlanningWorldTpl<S>::attachBox(const Vector3<S> &size, const std::string &a
 template <typename S>
 void PlanningWorldTpl<S>::attachMesh(const std::string &mesh_path,
                                      const std::string &art_name, int link_id,
-                                     const Pose<S> &pose) {
-  // TODO(merge): Convex mesh?
+                                     const Pose<S> &pose, bool convex) {
   // FIXME: Use link_name to avoid changes
   auto name = art_name + "_" + std::to_string(link_id) + "_mesh";
-  attachObject(
-      name, collision_detection::fcl::loadMeshAsBVH<S>(mesh_path, Vector3<S> {1, 1, 1}),
-      art_name, link_id, pose);
+  if (convex)
+    attachObject(
+        name,
+        collision_detection::fcl::loadMeshAsConvex<S>(mesh_path, Vector3<S> {1, 1, 1}),
+        art_name, link_id, pose);
+  else
+    attachObject(
+        name,
+        collision_detection::fcl::loadMeshAsBVH<S>(mesh_path, Vector3<S> {1, 1, 1}),
+        art_name, link_id, pose);
 }
 
 template <typename S>