Why would I want to run OOPSMP with a simple, blocky robot and later replace it with a more intricate one?
A major part of the OOPSMP path-planning process is checking whether the robot collides with its environment. The more complex the robot (and therefore the more faces present), the more time- and resource-consuming the planning will be. For best results, you should keep your robot relatively simple for the planning stage and then replace it later with a complex shape or figure. For instance, if you wanted to animate a space shuttle, you could register a cylindrical robot of approximate size and later replace it with the shuttle.
