PyBulletClient.cache_robot

PyBulletClient.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.

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