win10安装pybullet并测试

安装

pip install pybullet

可能出现的问题：
1、microsoft visual c++ 14.0 or greater is required.
解决：访问 http://go.microsoft.com/fwlink/?LinkId=691126，安装下载的文件。

测试

import pybullet as p
from time import sleep

physicsClient = p.connect(p.GUI)

p.setGravity(0, 0, -10)
# planeId = p.loadURDF("plane.urdf")
cubeStartPos = [0, 0, 1]
cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
boxId = p.loadURDF("path_to_urdf", cubeStartPos, cubeStartOrientation)
cubePos, cubeOrn = p.getBasePositionAndOrientation(boxId)

useRealTimeSimulation = 0

if (useRealTimeSimulation):
  p.setRealTimeSimulation(1)

while 1:
  if (useRealTimeSimulation):
    p.setGravity(0, 0, -10)
    sleep(0.01)  # Time in seconds.
  else:
    p.stepSimulation()

可能出现的问题：
1、pybullet.error: cannot load urdf file.
解决：path_to_urdf 要写绝对路径。
2、b3Printf: path_to_urdf.urdf:15: cannot find ‘path_to_urdf.obj’ in any directory in urdf path
解决：urdf所在的文件夹内需要包含模型文件，将path_to_urdf.obj放到path_to_urdf.urdf的同目录下即可。

最终的结果：

参考：https://blog.csdn.net/weixin_41045354/article/details/104534581