conversion from VirtualRobot::RobotPtr to ArticulatedObject very slow
When using the ArticulatedObjectWriter to store an object, it is converted from a VirtualRobot::RobotPtr to an ArticulatedObject, which is extremely slow. During my test this needed more than one second, making it infeasible to use for periodic updates of e.g. door joints. When manually doing the conversion and skipping the package and path operations, that are done in 'ArticulatedObjectWriter.convert', storing the ArticulatedObject is basically 'instant'.
Edited by Dominik Prossel