renamed pybullet to pycram_bullet

.ci/script.sh

@@ -11,9 +11,9 @@ if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then
   $SUDO pip3 install -U wheel
   $SUDO pip3 install -U setuptools
   python3 setup.py install --user
-  python3 examples/pybullet/unittests/unittests.py --verbose
-  python3 examples/pybullet/unittests/userDataTest.py --verbose
-  python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose
+  python3 examples/pycram_bullet/unittests/unittests.py --verbose
+  python3 examples/pycram_bullet/unittests/userDataTest.py --verbose
+  python3 examples/pycram_bullet/unittests/saveRestoreStateTest.py --verbose
 fi
 cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
 make -j8

CMakeLists.txt

@@ -30,7 +30,7 @@ OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
 OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
 OPTION(USE_OPENVR "Use OpenVR for virtual reality" OFF)
 
-OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pybullet" ON)
+OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pycram_bullet" ON)
 
 OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
 IF (BULLET2_MULTITHREADING)
@@ -332,9 +332,9 @@ OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
 # Optional Python configuration
 # Will not probe environment for Python configuration (which can abort the
 # build process) unless you explicitly turn on BUILD_PYBULLET.
-OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
+OPTION(BUILD_PYBULLET "Set when you want to build pycram_bullet (Python bindings for Bullet)" OFF)
 IF(BUILD_PYBULLET)
-	SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
+	SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pycram_bullet will use.")
 	SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
 	SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
 	SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
@@ -356,9 +356,9 @@ OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking
 IF(BUILD_PYBULLET)
 	FIND_PACKAGE(PythonLibs)
 
-	OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
-	OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
-	OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
+	OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pycram_bullet with NumPy support" OFF)
+	OPTION(BUILD_PYBULLET_ENET "Set when you want to build pycram_bullet with enet UDP networking support" ON)
+	OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pycram_bullet with enet TCP networking support" ON)
 
 	OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
 

Extras/obj2sdf/obj2sdf.cpp

@@ -1,7 +1,7 @@
 /// obj2sdf will load a Wavefront .obj file that may contain many parts/materials
 /// it will split into separate obj files for each part/material and
 /// create an sdf file with visuals/collisions pointing to the new obj files
-/// this will make it easier to load complex obj files into pybullet
+/// this will make it easier to load complex obj files into pycram_bullet
 /// see for example export in data/kitchens/fathirmutfak.sdf
 
 ///Bullet Continuous Collision Detection and Physics Library

MANIFEST.in

@@ -7,7 +7,7 @@ recursive-include Extras *.inl
 recursive-include src *.h
 recursive-include src *.hpp
 recursive-include src *.cpp
-recursive-include examples/pybullet/gym *.*
+recursive-include examples/pycram_bullet/gym *.*
 include examples/ThirdPartyLibs/enet/unix.c
 include examples/OpenGLWindow/*.*
 recursive-include examples/SharedMemory/plugins *.*

README.md

@@ -8,20 +8,20 @@
 
 This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
 
-![PyBullet](https://pybullet.org/wordpress/wp-content/uploads/2019/03/cropped-pybullet.png)
+![PyBullet](https://pycram_bullet.org/wordpress/wp-content/uploads/2019/03/cropped-pycram_bullet.png)
 
 ## Issues ##
-The Issue tracker was flooded with support questions and is closed until it is cleaned up. Use the [PyBullet forums](http://pybullet.org) to discuss with others.
+The Issue tracker was flooded with support questions and is closed until it is cleaned up. Use the [PyBullet forums](http://pycram_bullet.org) to discuss with others.
 
 ## PyBullet ##
-It is highly recommended to use PyBullet Python bindings for improved support for robotics, reinforcement learning and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
+It is highly recommended to use PyBullet Python bindings for improved support for robotics, reinforcement learning and VR. Use pip install pycram_bullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
 
 Installation is simple:
 ```
-pip3 install pybullet --upgrade --user
-python3 -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
-python3 -m pybullet_envs.examples.enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul
-python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt
+pip3 install pycram_bullet --upgrade --user
+python3 -m pycram_bullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
+python3 -m pycram_bullet_envs.examples.enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul
+python3 -m pycram_bullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt
 ```
 
 If you use PyBullet in your research, please cite it like this:
@@ -30,7 +30,7 @@ If you use PyBullet in your research, please cite it like this:
 @MISC{coumans2021,
 author =   {Erwin Coumans and Yunfei Bai},
 title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
-howpublished = {\url{http://pybullet.org}},
+howpublished = {\url{http://pycram_bullet.org}},
 year = {2016--2021}
 }
 ```
@@ -77,18 +77,18 @@ The Bullet port in vcpkg is kept up to date by Microsoft team members and commun
 
 **Windows**
 
-Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0_Bullet3Solution.sln
+Click on build_visual_studio_vr_pycram_bullet_double.bat and open build3/vs2010/0_Bullet3Solution.sln
 When asked, convert the projects to a newer version of Visual Studio.
 If you installed Python in the C:\ root directory, the batch file should find it automatically.
 Otherwise, edit this batch file to choose where Python include/lib directories are located.
 
 **Windows Virtual Reality sandbox for HTC Vive and Oculus Rift**
 
 Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build.
-You can connect from Python pybullet to the sandbox using:
+You can connect from Python pycram_bullet to the sandbox using:
 
 ```
-import pybullet as p
+import pycram_bullet as p
 p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86.10",1234)
 ```
 
@@ -98,9 +98,9 @@ Make sure gcc and cmake is installed (`sudo apt-get install build-essential` and
 
 In a terminal type:
 ```
-./build_cmake_pybullet_double.sh
+./build_cmake_pycram_bullet_double.sh
 ```
-This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet.
+This script will invoke cmake and build in the build_cmake directory. You can find pycram_bullet in Bullet/examples/pycram_bullet.
 The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser.
 
 You can also build Bullet using premake. There are premake executables in the build3 folder.
@@ -110,15 +110,15 @@ Using premake:
 cd build3
 ./premake4_linux --double gmake
 ./premake4_linux64 --double gmake
-./premake4_osx --double --enable_pybullet gmake
+./premake4_osx --double --enable_pycram_bullet gmake
 ```
 Then
 ```
 cd gmake
 make
 ```
 
-Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.
+Note that on Linux, you need to use cmake to build pycram_bullet, since the compiler has issues of mixing shared and static libraries.
 
 **Mac OSX Xcode**
 

build3/premake4.lua

@@ -90,7 +90,7 @@
 	newoption
 	{
 		trigger = "enable_physx",
-		description = "Allow optional PhysX backend for PyBullet, use pybullet.connect(pybullet.PhysX)."
+		description = "Allow optional PhysX backend for PyBullet, use pycram_bullet.connect(pycram_bullet.PhysX)."
 	}
 
 	newoption
@@ -249,10 +249,10 @@
       files { 
       projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.cpp",
 			projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.h",
-			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.grpc.pb.cpp",
-			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.grpc.pb.h",
-			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.pb.cpp",
-			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.pb.h", }
+			projectRootDir .. "examples/SharedMemory/grpc/proto/pycram_bullet.grpc.pb.cpp",
+			projectRootDir .. "examples/SharedMemory/grpc/proto/pycram_bullet.grpc.pb.h",
+			projectRootDir .. "examples/SharedMemory/grpc/proto/pycram_bullet.pb.cpp",
+			projectRootDir .. "examples/SharedMemory/grpc/proto/pycram_bullet.pb.h", }
 		end
 
 	end
@@ -280,14 +280,14 @@
 	newoption
 	{
 		trigger = "no-clsocket",
-		description = "Disable clsocket and clsocket tests (used for optional TCP networking in pybullet and shared memory C-API)"
+		description = "Disable clsocket and clsocket tests (used for optional TCP networking in pycram_bullet and shared memory C-API)"
 	}
 
 
 	newoption
 	{
 		trigger = "no-enet",
-		description = "Disable enet and enet tests (used for optional UDP networking in pybullet and shared memory C-API)"
+		description = "Disable enet and enet tests (used for optional UDP networking in pycram_bullet and shared memory C-API)"
 	}
 
 	newoption
@@ -298,7 +298,7 @@
 
 	newoption
         {
-                trigger = "enable_pybullet",
+                trigger = "enable_pycram_bullet",
                 description = "Enable high-level Python scripting of Bullet with URDF/SDF import and synthetic camera."
         }
 
@@ -613,8 +613,8 @@ end
 		if _OPTIONS["lua"] then
 		   include "../examples/ThirdPartyLibs/lua-5.2.3"
 		end
-		if _OPTIONS["enable_pybullet"] then
-		  include "../examples/pybullet"
+		if _OPTIONS["enable_pycram_bullet"] then
+		  include "../examples/pycram_bullet"
 		end
 		include "../examples/SimpleOpenGL3"
 

build_cmake_pycram_bullet_double.sh

@@ -0,0 +1,27 @@
+#!/bin/sh
+
+if [ -e CMakeCache.txt ]; then
+  rm CMakeCache.txt
+fi
+mkdir -p build_cmake
+cd build_cmake
+cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DBT_USE_EGL=ON -DCMAKE_BUILD_TYPE=Release .. || exit 1
+make -j $(command nproc 2>/dev/null || echo 12) || exit 1
+cd examples
+cd pycram_bullet
+if [ -e pycram_bullet.dylib ]; then
+  ln -f -s pycram_bullet.dylib pycram_bullet.so
+fi
+if [ -e pycram_bullet_envs ]; then
+  rm pycram_bullet_envs
+fi
+if [ -e pycram_bullet_data ]; then
+  rm pycram_bullet_data
+fi
+if [ -e pycram_bullet_utils ]; then
+  rm pycram_bullet_utils
+fi
+ln -s ../../../examples/pycram_bullet/gym/pycram_bullet_envs .
+ln -s ../../../examples/pycram_bullet/gym/pycram_bullet_data .
+ln -s ../../../examples/pycram_bullet/gym/pycram_bullet_utils .
+echo "Completed build of Bullet."

build_visual_studio_vr_pybullet_double.bat → build_visual_studio_vr_pycram_bullet_double.bat

@@ -18,11 +18,11 @@ rem SET myvar=c:\python-3.5.2
 cd build3
 
 
-premake4  --double --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+premake4  --double --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pycram_bullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 
-rem premake4  --double   --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
-rem premake4  --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
-rem premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+rem premake4  --double   --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pycram_bullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pycram_bullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --serial --audio --double --midi --enable_openvr --enable_pycram_bullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 
 start vs2010
 

build_visual_studio_vr_pybullet_double_dynamic.bat → build_visual_studio_vr_pycram_bullet_double_dynamic.bat

@@ -18,11 +18,11 @@ rem SET myvar=c:\python-3.5.2
 cd build3
 
 
-premake4  --dynamic-runtime --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+premake4  --dynamic-runtime --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pycram_bullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 
-rem premake4  --double   --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
-rem premake4  --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
-rem premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+rem premake4  --double   --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pycram_bullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pycram_bullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --serial --audio --double --midi --enable_openvr --enable_pycram_bullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 
 start vs2010
 

data/quadruped/vision/vision.py

@@ -1,4 +1,4 @@
-import pybullet as p
+import pycram_bullet as p
 import time
 import math
 

data/threecubes/threecubes.py

@@ -1,4 +1,4 @@
-import pybullet as p
+import pycram_bullet as p
 p.connect(p.DIRECT)
 p.loadPlugin("eglRendererPlugin")
 p.loadSDF("newsdf.sdf")

data/threecubes/threecubes_org.py

@@ -1,4 +1,4 @@
-import pybullet as p
+import pycram_bullet as p
 useEGL = False
 useEGLGUI = False