Collision shapes of CustomRobot

Hi Jacobi team,

When loading a CustomRobot from a URDF, I'm wondering what is happening regarding collision shapes.

  1. I am not sure if the collisions shapes described in the URDF are actually loaded or not. (Playing a bit with the Robot object, I have the impression they are, but they might be messed up because of point 2 below.)
  2. Reading the documentation, I have the impression that a single collision shape is expected per link.
  3. I am not sure if the collision shape can be a primitive shape or if it needs to be specified as a mesh.

Could you please give more some more explanations on this topic and/or maybe extending the related documentation?

Thank you very much

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