（一）机器人仿真平台pybullet基础学习（操作记录）

一、环境配置

git clone https://github.com/bulletphysics/bullet3.git

conda create -n bullet3 python=3.10

conda activate bullet3

pip install pybullet
pip install numpy==1.26.4
conda install matplotlib

二、例子学习

所在文件夹

bullet3/examples/pybullet/gym/pybullet_robots

bullet3/examples/pybullet/gym/pybullet_examples

1、pybullet_robots

（1）laikago

python ./pybullet_robots/laikago/laikago.py

（2）panda

python ./pybullet_robots/panda/loadpanda.py

python ./pybullet_robots/panda/loadpanda_grasp.py

python ./pybullet_robots/panda/batchsim3_grasp.py

（3）xarm

python ./pybullet_robots/xarm/xarm.py

python ./pybullet_robots/xarm/loadxarm_sim.py

 2、pybullet_examples

python ./pybullet_examples/inverse_kinematics.py

python ./pybullet_examples/inverse_kinematics_husky_kuka.py