> So you say we should patch gui/robot_model each time we have another > binary format to look for such replacements? > robot_model uses vizkit3d and is therefore OSG-specific. Having an OSG-specific optimization in it makes sense.
I think this is not the way to go, the model (urdf) should be either > optimized (link to osgb, bobj, or wharever) or not. > In this case, it makes the whatever model specific to your visualization library (OSG). It makes a lot more sense to point to an industry standard format in the SDF/URDF *and* optimizing your display plugins to better use the capabilities of your visualization framework, ideally doing it automatically (that's something we have on the pipe: feed a SDF and generate the relevant osgb optimized files) > You have a point with the optimization though, which this plugin does on > load time (each time). > Yes, and it takes ages. And you can't turn it off. Sylvain
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