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PyBullet Quickstart Guide

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PyBullet Quickstart GuideErwin Coumans,Yunfei Bai, 2016-2022Visitdesktop doc,forums, githubdiscussionsandstarBullet!Introduct ion2Hello PyBullet World3connect, disconnect, bullet_client3setGravity7loadURDF, loadSDF, loadMJCF7saveState, saveBullet, restoreState11createCollisionShape/Visua lShape12createMultiBody15stepSimulation1 6getBasePositionAndOrientation18resetBas ePositionAndOrientation18Transforms: Position and Orientation19Controlling a robot21Base, Joints, Links21getNumJoints, getJointInfo22setJointMotorControl2/Arra y23getJointState(s), resetJointState28enableJointForceTorqueS ensor29getLinkState(s)30getBaseVelocity, resetBaseVelocity32applyExternalForce/To rque32getNumBodies, getBodyInfo, getBodyUniqueId,removeBody33createConstr aint, removeConstraint,changeConstraint33getNu mConstraints, getConstraintUniqueId35getConstraintInfo /State35getDynamicsInfo/changeDynamics36 setTimeStep39setPhysicsEngineParameter40 resetSimulat

optional port (UDP and TCP) integer UDP port number. Default UDP port is 1234, default TCP port is 6667 (matching the defaults in the server) optional options string command-line option passed into the GUI server. At the moment, only the --opengl2 flag is enabled: by default, Bullet uses OpenGL3, but some environments such as virtual

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