PyBulletClient.load_robot

PyBulletClient.load_robot(urdf_file)

Create a pybullet robot using the input urdf file.

Parameters

urdf_file (str or file object) – Absolute file path to the urdf file name or file object. The mesh file can be linked by either “package::” or relative path.

Notes

By default, PyBullet will use the convex hull of any mesh loaded from a URDF for collision detection. Amending the link tag as <link concave="yes" name="<name of link>"> will make the mesh concave for static meshes (see this example). For non-static concave meshes, replace the OBJ files within the URDF with those generated by pybullet.vhacd.