The documentation of the URDF says: " Note: multiple instances of tags can exist for the same link. The union of the geometry they define forms the collision representation of the link."
I was wondering how the collision check (e.g. in Moveit) will be performed. Let's say I do a convex decomposition on the mesh of a link and include the convex component in seperate collision instances. Would this increase the performance compared to the case where I put the convex components in a single file and thus a single collision instance? Will the collision checker first check whether the specified mesh is convex and then check for collisions or does the collision checker first combines the convex components and then does the collision check? In the latter case the combined shape is not necessarily convex anymore and thus more computation heavy to check.
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