Tesseract scene without geometry

[johnwason]

I have an application where the robot and scene kinematics are known, but the geometry may not be. Is it possible to build the scene with just kinematic information and run the planners, or will they fail due to the lack of geometry?

[Levi-Armstrong]

Are you constructing it from a URDF?

[johnwason]

No, in this case it would be constructed using the API.

[johnwason]

I guess I can add some cylinders as stand-ins for the joints