AnalyticalPyBulletClient.cache_robot

AnalyticalPyBulletClient.cache_robot(robot, concavity=False)[source]

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

Parameters

  • robot (compas_fab.robots.Robot) – The robot to be saved for use with PyBullet.

  • concavity (bool) – 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.