# robot_id = p.loadURDF(ur4_urdf, basePosition=[0,0,0.1], useFixedBase=True) robot_id=p.loadURDF("ur5e/ur5e.urdf",[0,0,0],flags=p.URDF_USE_MATERIAL_COLORS_FROM_MTL) num_joints=p.getNumJoints(robot_id) print(f"⚙️ 总关节数:{num_joints}") ...