Shapes

Shapes

There are 4 different Shape classes: Box, Sphere, Cylinder, and Capsule. The name field is entirely for your own usage, and the frame field indicates what robot link the shape is attached to (by default "world"). The physical field indicates whether the shape presents a collision, and should be factored into collision avoidance. Otherwise, the shape is simply tracked in the state if close enough.

Note: The axis we are using is z-up compare to the traditional y-up axis.