pybullet机器人仿真环境搭建 3.让机器人运动起来，检测物体的碰撞状态

前言

前两篇记录了pybullet中的基础环境搭建和模型载入。

本篇记录在pybullet中让模型运动起来，并检测与其它物体的碰撞状态。

搭建环境，载入模型

第一步仍然是建立pybullet环境，并载入pybullet_data自带的r2d2模型，此外再加载一个自带的正方体和球体模型：

if __name__ == '__main__':
    client = pybullet.connect(pybullet.GUI)
    pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
    pybullet.setPhysicsEngineParameter(numSolverIterations=10)
    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0)
    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_TINY_RENDERER, 0)

    pybullet.setGravity(0, 0, -9.8)
    pybullet.setRealTimeSimulation(1)

    shift = [0, 0, 0]
    scale = [1, 1, 1]

    visual_shape_id = pybullet.createVisualShape(
        shapeType=pybullet.GEOM_MESH,
        fileName="sphere_smooth.obj",
        rgbaColor=[1, 1, 1, 1],
        specularColor=[0.4, 0.4, 0],
        visualFramePosition=[0, 0, 0],
        meshScale=scale)
    collision_shape_id = pybullet.createCollisionShape(
        shapeType=pybullet.GEOM_MESH,
        fileName="sphere_smooth.obj",
        collisionFramePosition=[0, 0, 0],
        meshScale=scale)
    pybullet.createMultiBody(
        baseMass=1,
        baseCollisionShapeIndex=collision_shape_id,
        baseVisualShapeIndex=visual_shape_id,
        basePosition=[0, 0, 2],
        useMaximalCoordinates=True)

	plane_id = pybullet.loadURDF("plane100.urdf", useMaximalCoordinates=True)
    cube_ind = pybullet.loadURDF('cube.urdf', (0, 1, 0), pybullet.getQuaternionFromEuler([0, 0, 0.785]))
    r_ind = pybullet.loadURDF('r2d2.urdf', (3, 1, 1),  pybullet.getQuaternionFromEuler([0, 0, 0.785])