PyBulletClient.cache_robot_model

PyBulletClient.cache_robot_model(robot, concavity=False)

Saves an editable copy of the robot’s model and its meshes for shadowing the state of the robot on the PyBullet server.

Parameters:

robotcompas_fab.robots.Robot

The robot to be saved for use with PyBullet.

concavitybool

When False (the default), the mesh will be loaded as its convex hull for collision checking purposes. When True, a non-static mesh will be decomposed into convex parts using v-HACD.

Raises:

Exception

If geometry has not been loaded.