pybullet_physx

import pybullet as p
import time

usePhysX = True

if usePhysX:
	p.connect(p.PhysX)	
	p.loadPlugin("eglRendererPlugin")
else:
	p.connect(p.GUI)
#p.connect(p.DIRECT)
#p.connect(p.DART)
#p.connect(p.MUJOCO)
#p.connect(p.GUI)

bodyB = p.loadURDF("plane.urdf",[0,0,0], useFixedBase=True)


for i in range (50):
	bodyA = p.loadURDF("r2d2.urdf",[0,0,1+i*2], useFixedBase=False)#, flags=p.URDF_USE_SELF_COLLISION)

numBodies = p.getNumBodies()
print("numBodies=",numBodies)
	
p.setGravity(0,0,-10)
timeStep = 1./240.
p.setPhysicsEngineParameter(fixedTimeStep=timeStep)

profile=False
if profile:
	logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "pybullet.json")
	for i in range (100):
		p.stepSimulation()
	print("stop logging")
	p.stopStateLogging(logId)

p.stepSimulation()
p.stepSimulation()
time.sleep(3)

#while (p.isConnected()):
while (1):
	p.stepSimulation()
	time.sleep(timeStep)

Sweet

Hi there!. I tried to use pybullet_physx with urdf models and it was ok, but when i tried to use it with sdf model, it failed with error. It seems that sdf file was wrong, but it works very well in pybullet without any errors and issues .
Is it possible to use pybullet_physx with sdf model?
This is the log of my error:

error: Cannot load SDF file.
pybullet build time: Nov 13 2020 02:52:47
PhysX numCores=1
PhysX using PGS
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Created GL 3.3 context
Direct GLX rendering context obtained
Making context current
GL_VENDOR=NVIDIA Corporation
GL_RENDERER=GeForce RTX 3080/PCIe/SSE2
GL_VERSION=3.3.0 NVIDIA 455.32.00
GL_SHADING_LANGUAGE_VERSION=3.30 NVIDIA via Cg compiler
pthread_getconcurrency()=0
Version = 3.3.0 NVIDIA 455.32.00
Vendor = NVIDIA Corporation
Renderer = GeForce RTX 3080/PCIe/SSE2
Unknown command encountered: 1

Probably not, the plugin has very limited features.