diff --git a/.ci/script.sh b/.ci/script.sh index 66b814ed6f..72243d2b08 100755 --- a/.ci/script.sh +++ b/.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 diff --git a/CMakeLists.txt b/CMakeLists.txt index a695b71726..5434c4fce6 100644 --- a/CMakeLists.txt +++ b/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) diff --git a/Extras/obj2sdf/obj2sdf.cpp b/Extras/obj2sdf/obj2sdf.cpp index 60881d50e3..20b6a4d735 100644 --- a/Extras/obj2sdf/obj2sdf.cpp +++ b/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 diff --git a/MANIFEST.in b/MANIFEST.in index a938c6fe77..7e989ddeed 100644 --- a/MANIFEST.in +++ b/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 *.* diff --git a/README.md b/README.md index e928be0709..279ec0b8ae 100644 --- a/README.md +++ b/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} } ``` @@ -77,7 +77,7 @@ 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. @@ -85,10 +85,10 @@ Otherwise, edit this batch file to choose where Python include/lib directories a **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. @@ -110,7 +110,7 @@ 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 ``` @@ -118,7 +118,7 @@ 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** diff --git a/build3/premake4.lua b/build3/premake4.lua index 73dbd89653..9b2c556240 100644 --- a/build3/premake4.lua +++ b/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" diff --git a/build_cmake_pybullet_double.sh b/build_cmake_pybullet_double.sh deleted file mode 100755 index 8817311f0b..0000000000 --- a/build_cmake_pybullet_double.sh +++ /dev/null @@ -1,27 +0,0 @@ -#!/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 pybullet -if [ -e pybullet.dylib ]; then - ln -f -s pybullet.dylib pybullet.so -fi -if [ -e pybullet_envs ]; then - rm pybullet_envs -fi -if [ -e pybullet_data ]; then - rm pybullet_data -fi -if [ -e pybullet_utils ]; then - rm pybullet_utils -fi -ln -s ../../../examples/pybullet/gym/pybullet_envs . -ln -s ../../../examples/pybullet/gym/pybullet_data . -ln -s ../../../examples/pybullet/gym/pybullet_utils . -echo "Completed build of Bullet." diff --git a/build_cmake_pycram_bullet_double.sh b/build_cmake_pycram_bullet_double.sh new file mode 100755 index 0000000000..1d008925ea --- /dev/null +++ b/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." diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pycram_bullet_double.bat similarity index 58% rename from build_visual_studio_vr_pybullet_double.bat rename to build_visual_studio_vr_pycram_bullet_double.bat index d0c1eeb4a7..3e96f077fc 100644 --- a/build_visual_studio_vr_pybullet_double.bat +++ b/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 diff --git a/build_visual_studio_vr_pybullet_double_cmake.bat b/build_visual_studio_vr_pycram_bullet_double_cmake.bat similarity index 100% rename from build_visual_studio_vr_pybullet_double_cmake.bat rename to build_visual_studio_vr_pycram_bullet_double_cmake.bat diff --git a/build_visual_studio_vr_pybullet_double_dynamic.bat b/build_visual_studio_vr_pycram_bullet_double_dynamic.bat similarity index 60% rename from build_visual_studio_vr_pybullet_double_dynamic.bat rename to build_visual_studio_vr_pycram_bullet_double_dynamic.bat index 034a460341..01f771adf6 100644 --- a/build_visual_studio_vr_pybullet_double_dynamic.bat +++ b/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 diff --git a/build_visual_studio_without_pybullet_vr.bat b/build_visual_studio_without_pycram_bullet_vr.bat similarity index 100% rename from build_visual_studio_without_pybullet_vr.bat rename to build_visual_studio_without_pycram_bullet_vr.bat diff --git a/data/quadruped/vision/vision.py b/data/quadruped/vision/vision.py index 359955c081..26eefc0db1 100644 --- a/data/quadruped/vision/vision.py +++ b/data/quadruped/vision/vision.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p import time import math diff --git a/data/threecubes/threecubes.py b/data/threecubes/threecubes.py index 4069cc3e9a..9ef0b81f10 100644 --- a/data/threecubes/threecubes.py +++ b/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") diff --git a/data/threecubes/threecubes_org.py b/data/threecubes/threecubes_org.py index 65c931c9c8..053b544afc 100644 --- a/data/threecubes/threecubes_org.py +++ b/data/threecubes/threecubes_org.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p useEGL = False useEGLGUI = False diff --git a/docs/pybullet_quickstart_guide/PlainPreview/Article.md.html b/docs/pycram_bullet_quickstart_guide/PlainPreview/Article.md.html similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/Article.md.html rename to docs/pycram_bullet_quickstart_guide/PlainPreview/Article.md.html diff --git a/docs/pybullet_quickstart_guide/PlainPreview/BuildMarkdeepUtility.py b/docs/pycram_bullet_quickstart_guide/PlainPreview/BuildMarkdeepUtility.py similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/BuildMarkdeepUtility.py rename to docs/pycram_bullet_quickstart_guide/PlainPreview/BuildMarkdeepUtility.py diff --git a/docs/pybullet_quickstart_guide/PlainPreview/DisplayMarkdeepOutput.js b/docs/pycram_bullet_quickstart_guide/PlainPreview/DisplayMarkdeepOutput.js similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/DisplayMarkdeepOutput.js rename to docs/pycram_bullet_quickstart_guide/PlainPreview/DisplayMarkdeepOutput.js diff --git a/docs/pybullet_quickstart_guide/PlainPreview/InvokeMathJax.js b/docs/pycram_bullet_quickstart_guide/PlainPreview/InvokeMathJax.js similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/InvokeMathJax.js rename to docs/pycram_bullet_quickstart_guide/PlainPreview/InvokeMathJax.js diff --git a/docs/pybullet_quickstart_guide/PlainPreview/MarkdeepUtility.js b/docs/pycram_bullet_quickstart_guide/PlainPreview/MarkdeepUtility.js similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/MarkdeepUtility.js rename to docs/pycram_bullet_quickstart_guide/PlainPreview/MarkdeepUtility.js diff --git a/docs/pybullet_quickstart_guide/PlainPreview/PrepareHTML.full.js b/docs/pycram_bullet_quickstart_guide/PlainPreview/PrepareHTML.full.js similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/PrepareHTML.full.js rename to docs/pycram_bullet_quickstart_guide/PlainPreview/PrepareHTML.full.js diff --git a/docs/pybullet_quickstart_guide/PlainPreview/PrepareHTML.js b/docs/pycram_bullet_quickstart_guide/PlainPreview/PrepareHTML.js similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/PrepareHTML.js rename to docs/pycram_bullet_quickstart_guide/PlainPreview/PrepareHTML.js diff --git a/docs/pybullet_quickstart_guide/PlainPreview/PreviewBlogPage.htm b/docs/pycram_bullet_quickstart_guide/PlainPreview/PreviewBlogPage.htm similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/PreviewBlogPage.htm rename to docs/pycram_bullet_quickstart_guide/PlainPreview/PreviewBlogPage.htm diff --git a/docs/pybullet_quickstart_guide/PlainPreview/SetMarkdeepMode.js b/docs/pycram_bullet_quickstart_guide/PlainPreview/SetMarkdeepMode.js similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/SetMarkdeepMode.js rename to docs/pycram_bullet_quickstart_guide/PlainPreview/SetMarkdeepMode.js diff --git a/docs/pybullet_quickstart_guide/PlainPreview/ShowHeadAdditions.html b/docs/pycram_bullet_quickstart_guide/PlainPreview/ShowHeadAdditions.html similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/ShowHeadAdditions.html rename to docs/pycram_bullet_quickstart_guide/PlainPreview/ShowHeadAdditions.html diff --git a/docs/pybullet_quickstart_guide/PlainPreview/markdeep.min.js b/docs/pycram_bullet_quickstart_guide/PlainPreview/markdeep.min.js similarity index 100% rename from docs/pybullet_quickstart_guide/PlainPreview/markdeep.min.js rename to docs/pycram_bullet_quickstart_guide/PlainPreview/markdeep.min.js diff --git a/docs/pybullet_quickstart_guide/PyBulletQuickstartGuide.md.html b/docs/pycram_bullet_quickstart_guide/PyBulletQuickstartGuide.md.html similarity index 88% rename from docs/pybullet_quickstart_guide/PyBulletQuickstartGuide.md.html rename to docs/pycram_bullet_quickstart_guide/PyBulletQuickstartGuide.md.html index 55c85e478f..6861ac83b8 100644 --- a/docs/pybullet_quickstart_guide/PyBulletQuickstartGuide.md.html +++ b/docs/pycram_bullet_quickstart_guide/PyBulletQuickstartGuide.md.html @@ -10,26 +10,26 @@ Introduction ====================================================================================== -pybullet is an easy to use Python module for physics simulation for robotics, games, visual effects and machine learning. With pybullet you can load articulated bodies from URDF, SDF, MJCF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics, collision detection and ray intersection queries. The Bullet Physics SDK includes pybullet robotic examples such as a simulated Minitaur quadruped, humanoids running using TensorFlow inference and KUKA arms grasping objects. +pycram_bullet is an easy to use Python module for physics simulation for robotics, games, visual effects and machine learning. With pycram_bullet you can load articulated bodies from URDF, SDF, MJCF and other file formats. pycram_bullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics, collision detection and ray intersection queries. The Bullet Physics SDK includes pycram_bullet robotic examples such as a simulated Minitaur quadruped, humanoids running using TensorFlow inference and KUKA arms grasping objects. -![[CoRL VR BotLab demo](https://github.com/erwincoumans/pybullet_robots/tree/master/corl_demo) +![[CoRL VR BotLab demo](https://github.com/erwincoumans/pycram_bullet_robots/tree/master/corl_demo) ](images/CoRL_VR_demo.png width="80%" border="2") -Aside from physics simulation, there are bindings to rendering, with a CPU renderer (TinyRenderer) and OpenGL visualization and support for Virtual Reality headsets such as HTC Vive and Oculus Rift. pybullet also has functionality to perform collision detection queries (closest points, overlapping pairs, ray intersection test etc) and to add debug rendering (debug lines and text). pybullet has cross-platform built-in client-server support for shared memory, UDP and TCP networking. So you can run pybullet on Linux connecting to a Windows VR server. +Aside from physics simulation, there are bindings to rendering, with a CPU renderer (TinyRenderer) and OpenGL visualization and support for Virtual Reality headsets such as HTC Vive and Oculus Rift. pycram_bullet also has functionality to perform collision detection queries (closest points, overlapping pairs, ray intersection test etc) and to add debug rendering (debug lines and text). pycram_bullet has cross-platform built-in client-server support for shared memory, UDP and TCP networking. So you can run pycram_bullet on Linux connecting to a Windows VR server. -pybullet wraps the new Bullet C-API, which is designed to be independent from the underlying physics engine and render engine, so we can easily migrate to newer versions of Bullet, or use a different physics engine or render engine. By default, pybullet uses the Bullet 2.x API on the CPU. We will expose Bullet 3.x running on GPU using OpenCL as well. There is also a C++ API similar to pybullet, see b3RobotSimulatorClientAPI. +pycram_bullet wraps the new Bullet C-API, which is designed to be independent from the underlying physics engine and render engine, so we can easily migrate to newer versions of Bullet, or use a different physics engine or render engine. By default, pycram_bullet uses the Bullet 2.x API on the CPU. We will expose Bullet 3.x running on GPU using OpenCL as well. There is also a C++ API similar to pycram_bullet, see b3RobotSimulatorClientAPI. -pybullet can be easily used with TensorFlow and frameworks such as OpenAI Gym. Researchers from Google Brain [1,2], X, Stanford AI Lab and OpenAI use pybullet/Bullet C-API. +pycram_bullet can be easily used with TensorFlow and frameworks such as OpenAI Gym. Researchers from Google Brain [1,2], X, Stanford AI Lab and OpenAI use pycram_bullet/Bullet C-API. -The installation of pybullet is as simple as (sudo) pip install pybullet (Python 2.x), pip3 install pybullet. This will expose the pybullet module as well as pybullet_envs Gym environments. +The installation of pycram_bullet is as simple as (sudo) pip install pycram_bullet (Python 2.x), pip3 install pycram_bullet. This will expose the pycram_bullet module as well as pycram_bullet_envs Gym environments. -Hello pybullet World +Hello pycram_bullet World ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ python -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version -p.setAdditionalSearchPath(pybullet_data.getDataPath()) #used by loadURDF +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #used by loadURDF p.setGravity(0,0,-10) planeId = p.loadURDF("plane.urdf") cubeStartPos = [0,0,1] @@ -43,11 +43,11 @@ connect, disconnect -------------------------------------------------------------------------------------------- -After importing the pybullet module, the first thing to do is 'connecting' to the physics simulation. pybullet is designed around a client-server driven API, with a client sending commands and a physics server returning the status. pybullet has some built-in physics servers: DIRECT and GUI. Both GUI and DIRECT connections will execute the physics simulation and rendering in the same process as pybullet. +After importing the pycram_bullet module, the first thing to do is 'connecting' to the physics simulation. pycram_bullet is designed around a client-server driven API, with a client sending commands and a physics server returning the status. pycram_bullet has some built-in physics servers: DIRECT and GUI. Both GUI and DIRECT connections will execute the physics simulation and rendering in the same process as pycram_bullet. Note that in DIRECT mode you cannot access the OpenGL and VR hardware features, as described in the "Virtual Reality" and "Debug GUI, Lines, Text, Parameters" chapters. DIRECT mode does allow rendering of images using the built-in software renderer through the 'getCameraImage' API. This can be useful for running simulations in the cloud on servers without GPU. -You can provide your own data files, or you can use the pybullet_data package that ships with pybullet. For this, import pybullet_data and register the directory using pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()). +You can provide your own data files, or you can use the pycram_bullet_data package that ships with pycram_bullet. For this, import pycram_bullet_data and register the directory using pycram_bullet.setAdditionalSearchPath(pycram_bullet_data.getDataPath()). getConnectionInfo -------------------------------------------------------------------------------------------- @@ -58,8 +58,8 @@ The DIRECT connection sends the commands directly to the physics engine, without using any transport layer and no graphics visualization window, and directly returns the status after executing the command. -The GUI connection will create a new graphical user interface (GUI) with 3D OpenGL rendering, within the same process space as pybullet. On Linux and Windows this GUI runs in a separate thread, while on OSX it runs in the same thread due to operating system limitations. On Mac OSX you may see a spinning wheel in the OpenGL Window, until you run a 'stepSimulation' or other pybullet command. -The commands and status messages are sent between pybullet client and the GUI physics simulation server using an ordinary memory buffer. +The GUI connection will create a new graphical user interface (GUI) with 3D OpenGL rendering, within the same process space as pycram_bullet. On Linux and Windows this GUI runs in a separate thread, while on OSX it runs in the same thread due to operating system limitations. On Mac OSX you may see a spinning wheel in the OpenGL Window, until you run a 'stepSimulation' or other pycram_bullet command. +The commands and status messages are sent between pycram_bullet client and the GUI physics simulation server using an ordinary memory buffer. It is also possible to connect to a physics server in a different process on the same machine or on a remote machine using SHARED_MEMORY, UDP or TCP networking. See the section about Shared Memory, UDP and TCP for details. @@ -76,17 +76,17 @@ | optional | UdpNetworkPort (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 machines or remote desktop clients only support OpenGL2. Only one command-line argument can be passed on at the moment. | -connect returns a physics client id or -1 if not connected. The physics client Id is an optional argument to most of the other pybullet commands. If you don't provide it, it will assume physics client id = 0. You can connect to multiple different physics servers, except for GUI. +connect returns a physics client id or -1 if not connected. The physics client Id is an optional argument to most of the other pycram_bullet commands. If you don't provide it, it will assume physics client id = 0. You can connect to multiple different physics servers, except for GUI. For example: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ python -pybullet.connect(pybullet.DIRECT) -pybullet.connect(pybullet.GUI, options="--opengl2") -pybullet.connect(pybullet.SHARED_MEMORY,1234) -pybullet.connect(pybullet.UDP,"192.168.0.1") -pybullet.connect(pybullet.UDP,"localhost", 1234) -pybullet.connect(pybullet.TCP,"localhost", 6667) +pycram_bullet.connect(pycram_bullet.DIRECT) +pycram_bullet.connect(pycram_bullet.GUI, options="--opengl2") +pycram_bullet.connect(pycram_bullet.SHARED_MEMORY,1234) +pycram_bullet.connect(pycram_bullet.UDP,"192.168.0.1") +pycram_bullet.connect(pycram_bullet.UDP,"localhost", 1234) +pycram_bullet.connect(pycram_bullet.TCP,"localhost", 6667) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ connect using Shared Memory @@ -97,7 +97,7 @@ connect using UDP or TCP networking -------------------------------------------------------------------------------------------- -For UDP networking, there is a App_PhysicsServerUDP that listens to a certain UDP port. It uses the open source enet library for reliable UDP networking. This allows you to execute the physics simulation and rendering on a separate machine. For TCP pybullet uses the clsocket library. This can be useful when using SSH tunneling from a machine behind a firewall to a robot simulation. For example you can run a control stack or machine learning using pybullet on Linux, while running the physics server on Windows in Virtual Reality using HTC Vive or Rift. +For UDP networking, there is a App_PhysicsServerUDP that listens to a certain UDP port. It uses the open source enet library for reliable UDP networking. This allows you to execute the physics simulation and rendering on a separate machine. For TCP pycram_bullet uses the clsocket library. This can be useful when using SSH tunneling from a machine behind a firewall to a robot simulation. For example you can run a control stack or machine learning using pycram_bullet on Linux, while running the physics server on Windows in Virtual Reality using HTC Vive or Rift. One more UDP application is the App_PhysicsServerSharedMemoryBridgeUDP application that acts as a bridge to an existing physics server: you can connect over UDP to this bridge, and the bridge connects to a physics server using shared memory: the bridge passes messages between client and server. In a similar way there is a TCP version (replace UDP by TCP). @@ -130,9 +130,9 @@ -------------------------------------------------------------------------------------------- The loadURDF will send a command to the physics server to load a physics model from a Universal Robot Description File (URDF). The URDF file is used by the ROS project (Robot Operating System) to describe robots and other objects, it was created by the WillowGarage and the Open Source Robotics Foundation (OSRF). Many robots have public URDF files, you can find a description and tutorial here: http://wiki.ros.org/urdf/Tutorials -Important note: most joints (slider, revolute, continuous) have motors enabled by default that prevent free motion. This is similar to a robot joint with a very high-friction harmonic drive. You should set the joint motor control mode and target settings using pybullet.setJointMotorControl2. See the setJointMotorControl2 API for more information. +Important note: most joints (slider, revolute, continuous) have motors enabled by default that prevent free motion. This is similar to a robot joint with a very high-friction harmonic drive. You should set the joint motor control mode and target settings using pycram_bullet.setJointMotorControl2. See the setJointMotorControl2 API for more information. -Warning: by default, pybullet will cache some files to speed up loading. You can disable file caching using setPhysicsEngineParameter(enableFileCaching=0). +Warning: by default, pycram_bullet will cache some files to speed up loading. You can disable file caching using setPhysicsEngineParameter(enableFileCaching=0). The loadURDF arguments are: @@ -245,21 +245,21 @@ The return value of createMultiBody is a non-negative unique id or -1 for failure. Example: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ python -cuid = pybullet.createCollisionShape(pybullet.GEOM_BOX, halfExtents = [1, 1, 1]) +cuid = pycram_bullet.createCollisionShape(pycram_bullet.GEOM_BOX, halfExtents = [1, 1, 1]) mass= 0 #static box -pybullet.createMultiBody(mass,cuid) +pycram_bullet.createMultiBody(mass,cuid) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -See also createMultiBodyLinks.py, createObstacleCourse.py and createVisualShape.py in the Bullet/examples/pybullet/examples folder. +See also createMultiBodyLinks.py, createObstacleCourse.py and createVisualShape.py in the Bullet/examples/pycram_bullet/examples folder. saveWorld -------------------------------------------------------------------------------------------- -You can create a snapshot of the current world as a pybullet Python file, stored on the server. saveWorld can be useful as a basic editing feature, setting up the robot, joint angles, object positions and environment for example in VR. Later you can just load the pybullet Python file to re-create the world. Note that not all settings are stored in the world file at the moment. +You can create a snapshot of the current world as a pycram_bullet Python file, stored on the server. saveWorld can be useful as a basic editing feature, setting up the robot, joint angles, object positions and environment for example in VR. Later you can just load the pycram_bullet Python file to re-create the world. Note that not all settings are stored in the world file at the moment. The input arguments are: | option | name | type | description | |----------|----------------|--------|------------------------------------------------------------| -| required | fileName | string | filename of the pybullet file. | +| required | fileName | string | filename of the pycram_bullet file. | | optional | clientServerId | int | if you are connected to multiple servers, you can pick one | stepSimulation @@ -282,7 +282,7 @@ By default, the physics server will not step the simulation, unless you explicitly send a 'stepSimulation' command. This way you can maintain control determinism of the simulation. It is possible to run the simulation in real-time by letting the physics server automatically step the simulation according to its real-time-clock (RTC) using the setRealTimeSimulation command. If you enable the real-time simulation, you don't need to call 'stepSimulation'. -Note that setRealTimeSimulation has no effect in DIRECT mode: in DIRECT mode the physics server and client happen in the same thread and you trigger every command. In GUI mode and in Virtual Reality mode, and TCP/UDP mode, the physics server runs in a separate thread from the client (pybullet), and setRealTimeSimulation allows the physicsserver thread to add additional calls to stepSimulation. +Note that setRealTimeSimulation has no effect in DIRECT mode: in DIRECT mode the physics server and client happen in the same thread and you trigger every command. In GUI mode and in Virtual Reality mode, and TCP/UDP mode, the physics server runs in a separate thread from the client (pycram_bullet), and setRealTimeSimulation allows the physicsserver thread to add additional calls to stepSimulation. The input parameters are: @@ -309,7 +309,7 @@ See also resetBasePositionAndOrientation to reset the position and orientation of the object. -This completes the first pybullet script. Bullet ships with several URDF files in the Bullet/data folder. +This completes the first pycram_bullet script. Bullet ships with several URDF files in the Bullet/data folder. resetBasePositionAndOrientation -------------------------------------------------------------------------------------------- @@ -327,11 +327,11 @@ Transforms: Position and Orientation -------------------------------------------------------------------------------------------- -The position of objects can be expressed in Cartesian world space coordinates [x,y,z]. The orientation (or rotation) of objects can be expressed using quaternions [x,y,z,w], euler angles [yaw, pitch, roll] or 3x3 matrices. pybullet provides a few helper functions to convert between quaternions, euler angles and 3x3 matrices. In additions there are some functions to multiply and invert transforms. +The position of objects can be expressed in Cartesian world space coordinates [x,y,z]. The orientation (or rotation) of objects can be expressed using quaternions [x,y,z,w], euler angles [yaw, pitch, roll] or 3x3 matrices. pycram_bullet provides a few helper functions to convert between quaternions, euler angles and 3x3 matrices. In additions there are some functions to multiply and invert transforms. getQuaternionFromEuler and getEulerFromQuaternion -------------------------------------------------------------------------------------------- -The pybullet API uses quaternions to represent orientations. Since quaternions are not very intuitive for people, there are two APIs to convert between quaternions and Euler angles. +The pycram_bullet API uses quaternions to represent orientations. Since quaternions are not very intuitive for people, there are two APIs to convert between quaternions and Euler angles. The getQuaternionFromEuler input arguments are: @@ -360,7 +360,7 @@ multiplyTransforms, invertTransform -------------------------------------------------------------------------------------------- -pybullet provides a few helper functions to multiply and inverse transforms. This can be helpful to transform coordinates from one to the other coordinate system. +pycram_bullet provides a few helper functions to multiply and inverse transforms. This can be helpful to transform coordinates from one to the other coordinate system. The input parameters of multiplyTransforms are: @@ -393,7 +393,7 @@ Controlling a robot ====================================================================================== -In the Introduction we already showed how to initialize pybullet and load some objects. If you replace the file name in the loadURDF command with "r2d2.urdf" you can simulate a R2D2 robot from the ROS tutorial. Let's control this R2D2 robot to move, look around and control the gripper. For this we need to know how to access its joint motors. +In the Introduction we already showed how to initialize pycram_bullet and load some objects. If you replace the file name in the loadURDF command with "r2d2.urdf" you can simulate a R2D2 robot from the ROS tutorial. Let's control this R2D2 robot to move, look around and control the gripper. For this we need to know how to access its joint motors. Base, Joints, Links -------------------------------------------------------------------------------------------- diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/Article.md.html b/docs/pycram_bullet_quickstart_guide/WordpressPreview/Article.md.html similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/Article.md.html rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/Article.md.html diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/BuildMarkdeepUtility.py b/docs/pycram_bullet_quickstart_guide/WordpressPreview/BuildMarkdeepUtility.py similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/BuildMarkdeepUtility.py rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/BuildMarkdeepUtility.py diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/DisplayMarkdeepOutput.js b/docs/pycram_bullet_quickstart_guide/WordpressPreview/DisplayMarkdeepOutput.js similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/DisplayMarkdeepOutput.js rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/DisplayMarkdeepOutput.js diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/InvokeMathJax.js b/docs/pycram_bullet_quickstart_guide/WordpressPreview/InvokeMathJax.js similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/InvokeMathJax.js rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/InvokeMathJax.js diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/MarkdeepUtility.js b/docs/pycram_bullet_quickstart_guide/WordpressPreview/MarkdeepUtility.js similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/MarkdeepUtility.js rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/MarkdeepUtility.js diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/PrepareHTML.full.js b/docs/pycram_bullet_quickstart_guide/WordpressPreview/PrepareHTML.full.js similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/PrepareHTML.full.js rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/PrepareHTML.full.js diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/PrepareHTML.js b/docs/pycram_bullet_quickstart_guide/WordpressPreview/PrepareHTML.js similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/PrepareHTML.js rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/PrepareHTML.js diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/PreviewBlogPage.htm b/docs/pycram_bullet_quickstart_guide/WordpressPreview/PreviewBlogPage.htm similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/PreviewBlogPage.htm rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/PreviewBlogPage.htm diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/SetMarkdeepMode.js b/docs/pycram_bullet_quickstart_guide/WordpressPreview/SetMarkdeepMode.js similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/SetMarkdeepMode.js rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/SetMarkdeepMode.js diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/ShowHeadAdditions.html b/docs/pycram_bullet_quickstart_guide/WordpressPreview/ShowHeadAdditions.html similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/ShowHeadAdditions.html rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/ShowHeadAdditions.html diff --git a/docs/pybullet_quickstart_guide/WordpressPreview/markdeep.min.js b/docs/pycram_bullet_quickstart_guide/WordpressPreview/markdeep.min.js similarity index 100% rename from docs/pybullet_quickstart_guide/WordpressPreview/markdeep.min.js rename to docs/pycram_bullet_quickstart_guide/WordpressPreview/markdeep.min.js diff --git a/docs/pybullet_quickstart_guide/cs371-common.js b/docs/pycram_bullet_quickstart_guide/cs371-common.js similarity index 100% rename from docs/pybullet_quickstart_guide/cs371-common.js rename to docs/pycram_bullet_quickstart_guide/cs371-common.js diff --git a/docs/pybullet_quickstart_guide/cs371.css b/docs/pycram_bullet_quickstart_guide/cs371.css similarity index 100% rename from docs/pybullet_quickstart_guide/cs371.css rename to docs/pycram_bullet_quickstart_guide/cs371.css diff --git a/docs/pybullet_quickstart_guide/images/CoRL_VR_demo.png b/docs/pycram_bullet_quickstart_guide/images/CoRL_VR_demo.png similarity index 100% rename from docs/pybullet_quickstart_guide/images/CoRL_VR_demo.png rename to docs/pycram_bullet_quickstart_guide/images/CoRL_VR_demo.png diff --git a/docs/pybullet_quickstart_guide/images/joints_and_links.png b/docs/pycram_bullet_quickstart_guide/images/joints_and_links.png similarity index 100% rename from docs/pybullet_quickstart_guide/images/joints_and_links.png rename to docs/pycram_bullet_quickstart_guide/images/joints_and_links.png diff --git a/docs/pybullet_quickstart_guide/markdeep.js b/docs/pycram_bullet_quickstart_guide/markdeep.js similarity index 100% rename from docs/pybullet_quickstart_guide/markdeep.js rename to docs/pycram_bullet_quickstart_guide/markdeep.js diff --git a/docs/pybullet_quickstartguide.pdf b/docs/pycram_bullet_quickstartguide.pdf similarity index 99% rename from docs/pybullet_quickstartguide.pdf rename to docs/pycram_bullet_quickstartguide.pdf index eaaf62c241..91a138b2c1 100644 Binary files a/docs/pybullet_quickstartguide.pdf and b/docs/pycram_bullet_quickstartguide.pdf differ diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index ba9efac196..a0f737a788 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -4,5 +4,5 @@ IF(BUILD_BULLET3) ENDIF() IF(BUILD_PYBULLET) - SUBDIRS(pybullet) + SUBDIRS(pycram_bullet) ENDIF(BUILD_PYBULLET) diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 715a4396d6..7cb28e0740 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -170,7 +170,7 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(1, "Kinematic MultiBody", "Let the user set the transform, the physics engine computes the velocity for one-way contact and friction interaction.", KinematicMultiBodyExampleCreateFunc), ExampleEntry(0, "Physics Client-Server"), - ExampleEntry(1, "Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.", + ExampleEntry(1, "Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pycram_bullet, a PhysicsClient or a UDP/TCP Bridge.", PhysicsServerCreateFuncBullet2), ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc), diff --git a/examples/RobotSimulator/VRGloveSimulatorMain.cpp b/examples/RobotSimulator/VRGloveSimulatorMain.cpp index 0da948367d..4c7211299d 100644 --- a/examples/RobotSimulator/VRGloveSimulatorMain.cpp +++ b/examples/RobotSimulator/VRGloveSimulatorMain.cpp @@ -1,4 +1,4 @@ -//VR Glove hand simulator is a C++ conversion from the Python pybullet vrhand_vive_tracker.py +//VR Glove hand simulator is a C++ conversion from the Python pycram_bullet vrhand_vive_tracker.py //For more details about the VR glove, see also https://docs.google.com/document/d/1_qwXJRBTGKmhktdBtVQ6zdOdxwud1K30jt0G5dkAr10/edit #include "b3RobotSimulatorClientAPI.h" diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp index 724a4cef70..beae887947 100644 --- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp +++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp @@ -164,7 +164,7 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort); #else - b3Warning("TCP is not enabled in this pybullet build"); + b3Warning("TCP is not enabled in this pycram_bullet build"); #endif //BT_ENABLE_CLSOCKET break; } @@ -173,7 +173,7 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i #ifdef BT_ENABLE_GRPC sm = b3ConnectPhysicsGRPC(hostName.c_str(), tcpPort); #else - b3Warning("GRPC is not enabled in this pybullet build"); + b3Warning("GRPC is not enabled in this pycram_bullet build"); #endif break; } diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h index 656b142331..a3c0b177d9 100644 --- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h +++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h @@ -3,8 +3,8 @@ #include "../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h" -///The b3RobotSimulatorClientAPI_GUI is pretty much the C++ version of pybullet -///as documented in the pybullet Quickstart Guide +///The b3RobotSimulatorClientAPI_GUI is pretty much the C++ version of pycram_bullet +///as documented in the pycram_bullet Quickstart Guide ///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA class b3RobotSimulatorClientAPI : public b3RobotSimulatorClientAPI_NoGUI { diff --git a/examples/SharedMemory/PhysicsClientGRPC.cpp b/examples/SharedMemory/PhysicsClientGRPC.cpp index 94a73369d1..e123505df7 100644 --- a/examples/SharedMemory/PhysicsClientGRPC.cpp +++ b/examples/SharedMemory/PhysicsClientGRPC.cpp @@ -1,6 +1,6 @@ #ifdef BT_ENABLE_GRPC #include "PhysicsClientGRPC.h" -#include "SharedMemory/grpc/proto/pybullet.grpc.pb.h" +#include "SharedMemory/grpc/proto/pycram_bullet.grpc.pb.h" #include using grpc::Channel; #include @@ -14,7 +14,7 @@ using grpc::Channel; #include "Bullet3Common/b3AlignedObjectArray.h" #include "SharedMemory/grpc/ConvertGRPCBullet.h" -using pybullet_grpc::grpc::PyBulletAPI; +using pycram_bullet_grpc::grpc::PyBulletAPI; static unsigned int b3DeserializeInt2(const unsigned char* input) { @@ -78,10 +78,10 @@ struct GRPCNetworkedInternalData std::chrono::system_clock::now() + std::chrono::seconds((long long)m_timeOutInSeconds); grpc::ClientContext context; context.set_deadline(deadline); - ::pybullet_grpc::PyBulletCommand request; - pybullet_grpc::CheckVersionCommand* cmd1 = request.mutable_checkversioncommand(); + ::pycram_bullet_grpc::PyBulletCommand request; + pycram_bullet_grpc::CheckVersionCommand* cmd1 = request.mutable_checkversioncommand(); cmd1->set_clientversion(SHARED_MEMORY_MAGIC_NUMBER); - ::pybullet_grpc::PyBulletStatus response; + ::pycram_bullet_grpc::PyBulletStatus response; // The actual RPC. grpc::Status status = m_stub->SubmitCommand(&context, request, &response); if (response.has_checkversionstatus()) @@ -133,8 +133,8 @@ bool GRPCNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComm printf("GRPCNetworkedPhysicsProcessor::processCommand\n"); } - ::pybullet_grpc::PyBulletCommand grpcCommand; - pybullet_grpc::PyBulletCommand* grpcCmdPtr = convertBulletToGRPCCommand(clientCmd, grpcCommand); + ::pycram_bullet_grpc::PyBulletCommand grpcCommand; + pycram_bullet_grpc::PyBulletCommand* grpcCmdPtr = convertBulletToGRPCCommand(clientCmd, grpcCommand); if (grpcCmdPtr) { @@ -142,7 +142,7 @@ bool GRPCNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComm std::chrono::system_clock::time_point deadline = std::chrono::system_clock::now() + std::chrono::seconds((long long)m_data->m_timeOutInSeconds); context.set_deadline(deadline); - ::pybullet_grpc::PyBulletStatus status; + ::pycram_bullet_grpc::PyBulletStatus status; // The actual RPC. grpc::Status grpcStatus = m_data->m_stub->SubmitCommand(&context, grpcCommand, &status); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index b8fc344337..d5e05ba10b 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2125,7 +2125,7 @@ void MyContactEndedCallback(btPersistentManifold* const& manifold) void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep) { #ifdef B3_ENABLE_TINY_AUDIO - //this is experimental at the moment: impulse thresholds, sound parameters will be exposed in C-API/pybullet. + //this is experimental at the moment: impulse thresholds, sound parameters will be exposed in C-API/pycram_bullet. //audio will go into a wav file, as well as real-time output to speakers/headphones using RtAudio/DAC. int numContactManifolds = m_data->m_dynamicsWorld->getDispatcher()->getNumManifolds(); @@ -3377,7 +3377,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, #if 0 btAlignedObjectArray urdf; mb->dumpUrdf(urdf); - FILE* f = fopen("e:/pybullet.urdf", "w"); + FILE* f = fopen("e:/pycram_bullet.urdf", "w"); if (f) { fwrite(&urdf[0], urdf.size(), 1, f); @@ -4381,7 +4381,7 @@ bool PhysicsServerCommandProcessor::processSaveWorldCommand(const struct SharedM { char line[2048]; { - sprintf(line, "import pybullet as p\n"); + sprintf(line, "import pycram_bullet as p\n"); int len = strlen(line); fwrite(line, len, 1, f); } diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 52c30dee53..c80e672506 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -21,7 +21,7 @@ #include "../CommonInterfaces/CommonParameterInterface.h" #include "../Importers/ImportURDFDemo/urdfStringSplit.h" -//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet! +//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pycram_bullet! bool gEnablePicking = true; bool gEnableTeleporting = true; bool gEnableRendering = true; diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h index 5c8f9e2ff8..29a7db8649 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h @@ -1,8 +1,8 @@ #ifndef B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H #define B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H -///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet -///as documented in the pybullet Quickstart Guide +///The b3RobotSimulatorClientAPI is pretty much the C++ version of pycram_bullet +///as documented in the pycram_bullet Quickstart Guide ///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA #include "SharedMemoryPublic.h" diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp index 6b9132c22d..6d36f70da9 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp @@ -82,7 +82,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort); #else - b3Warning("TCP is not enabled in this pybullet build"); + b3Warning("TCP is not enabled in this pycram_bullet build"); #endif //BT_ENABLE_CLSOCKET break; } diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h index b0a4a8de15..315b03564c 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h @@ -3,8 +3,8 @@ #include "b3RobotSimulatorClientAPI_NoDirect.h" -///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet -///as documented in the pybullet Quickstart Guide +///The b3RobotSimulatorClientAPI is pretty much the C++ version of pycram_bullet +///as documented in the pycram_bullet Quickstart Guide ///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA class b3RobotSimulatorClientAPI_NoGUI : public b3RobotSimulatorClientAPI_NoDirect { diff --git a/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp b/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp index 2596a34650..636c8b1855 100644 --- a/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp +++ b/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp @@ -7,7 +7,7 @@ #include #include #include -#include "SharedMemory/grpc/proto/pybullet.grpc.pb.h" +#include "SharedMemory/grpc/proto/pycram_bullet.grpc.pb.h" #include "LinearMath/btMinMax.h" #define ALLOW_GRPC_COMMAND_CONVERSION @@ -19,12 +19,12 @@ using grpc::ServerBuilder; using grpc::ServerCompletionQueue; using grpc::ServerContext; using grpc::Status; -using pybullet_grpc::PyBulletCommand; -using pybullet_grpc::PyBulletStatus; +using pycram_bullet_grpc::PyBulletCommand; +using pycram_bullet_grpc::PyBulletStatus; -pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMemoryCommand& clientCmd, pybullet_grpc::PyBulletCommand& grpcCommand) +pycram_bullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMemoryCommand& clientCmd, pycram_bullet_grpc::PyBulletCommand& grpcCommand) { - pybullet_grpc::PyBulletCommand* grpcCmdPtr = 0; + pycram_bullet_grpc::PyBulletCommand* grpcCmdPtr = 0; grpcCommand.set_commandtype(clientCmd.m_type); @@ -44,7 +44,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe case CMD_USER_CONSTRAINT: { grpcCmdPtr = &grpcCommand; - ::pybullet_grpc::UserConstraintCommand* con = grpcCommand.mutable_userconstraintcommand(); + ::pycram_bullet_grpc::UserConstraintCommand* con = grpcCommand.mutable_userconstraintcommand(); con->set_updateflags(clientCmd.m_updateFlags); con->mutable_childframe()->mutable_origin()->set_x(clientCmd.m_userConstraintArguments.m_childFrame[0]); @@ -106,7 +106,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe case CMD_LOAD_URDF: { - ::pybullet_grpc::LoadUrdfCommand* urdfCmd = grpcCommand.mutable_loadurdfcommand(); + ::pycram_bullet_grpc::LoadUrdfCommand* urdfCmd = grpcCommand.mutable_loadurdfcommand(); grpcCmdPtr = &grpcCommand; urdfCmd->set_filename(clientCmd.m_urdfArguments.m_urdfFileName); if (clientCmd.m_updateFlags & URDF_ARGS_INITIAL_POSITION) @@ -146,7 +146,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe case CMD_INIT_POSE: { grpcCmdPtr = &grpcCommand; - ::pybullet_grpc::InitPoseCommand* pose = grpcCommand.mutable_initposecommand(); + ::pycram_bullet_grpc::InitPoseCommand* pose = grpcCommand.mutable_initposecommand(); { pose->set_bodyuniqueid(clientCmd.m_initPoseArgs.m_bodyUniqueId); pose->set_updateflags(clientCmd.m_updateFlags); @@ -178,7 +178,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe { grpcCmdPtr = &grpcCommand; - ::pybullet_grpc::RequestActualStateCommand* grpcCmd = grpcCommand.mutable_requestactualstatecommand(); + ::pycram_bullet_grpc::RequestActualStateCommand* grpcCmd = grpcCommand.mutable_requestactualstatecommand(); grpcCmd->set_bodyuniqueid(clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId); if (clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS) { @@ -193,7 +193,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe case CMD_SEND_DESIRED_STATE: { - ::pybullet_grpc::JointMotorControlCommand* motor = grpcCommand.mutable_jointmotorcontrolcommand(); + ::pycram_bullet_grpc::JointMotorControlCommand* motor = grpcCommand.mutable_jointmotorcontrolcommand(); motor->set_bodyuniqueid(clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId); motor->set_controlmode(clientCmd.m_sendDesiredStateCommandArgument.m_controlMode); motor->set_updateflags(clientCmd.m_updateFlags); @@ -224,9 +224,9 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: { grpcCmdPtr = &grpcCommand; - ::pybullet_grpc::PhysicsSimulationParametersCommand* grpcCmd = grpcCommand.mutable_setphysicssimulationparameterscommand(); + ::pycram_bullet_grpc::PhysicsSimulationParametersCommand* grpcCmd = grpcCommand.mutable_setphysicssimulationparameterscommand(); grpcCmd->set_updateflags(clientCmd.m_updateFlags); - ::pybullet_grpc::PhysicsSimulationParameters* params = grpcCmd->mutable_params(); + ::pycram_bullet_grpc::PhysicsSimulationParameters* params = grpcCmd->mutable_params(); if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_DELTA_TIME) { @@ -234,7 +234,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe } if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_GRAVITY) { - ::pybullet_grpc::vec3* grav = params->mutable_gravityacceleration(); + ::pycram_bullet_grpc::vec3* grav = params->mutable_gravityacceleration(); grav->set_x(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0]); grav->set_y(clientCmd.m_physSimParamArgs.m_gravityAcceleration[1]); grav->set_z(clientCmd.m_physSimParamArgs.m_gravityAcceleration[2]); @@ -347,7 +347,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe case CMD_REQUEST_BODY_INFO: { grpcCmdPtr = &grpcCommand; - ::pybullet_grpc::RequestBodyInfoCommand* grpcCmd = grpcCommand.mutable_requestbodyinfocommand(); + ::pycram_bullet_grpc::RequestBodyInfoCommand* grpcCmd = grpcCommand.mutable_requestbodyinfocommand(); grpcCmd->set_bodyuniqueid(clientCmd.m_sdfRequestInfoArgs.m_bodyUniqueId); break; } @@ -372,7 +372,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe case CMD_CONFIGURE_OPENGL_VISUALIZER: { grpcCmdPtr = &grpcCommand; - ::pybullet_grpc::ConfigureOpenGLVisualizerCommand* vizCmd = grpcCommand.mutable_configureopenglvisualizercommand(); + ::pycram_bullet_grpc::ConfigureOpenGLVisualizerCommand* vizCmd = grpcCommand.mutable_configureopenglvisualizercommand(); vizCmd->set_updateflags(clientCmd.m_updateFlags); vizCmd->set_cameradistance(clientCmd.m_configureOpenGLVisualizerArguments.m_cameraDistance); @@ -380,7 +380,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe vizCmd->set_camerayaw(clientCmd.m_configureOpenGLVisualizerArguments.m_cameraYaw); vizCmd->set_setflag(clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag); vizCmd->set_setenabled(clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled); - ::pybullet_grpc::vec3* targetPos = vizCmd->mutable_cameratargetposition(); + ::pycram_bullet_grpc::vec3* targetPos = vizCmd->mutable_cameratargetposition(); targetPos->set_x(clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[0]); targetPos->set_y(clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1]); targetPos->set_z(clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2]); @@ -390,7 +390,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe case CMD_REQUEST_CAMERA_IMAGE_DATA: { grpcCmdPtr = &grpcCommand; - ::pybullet_grpc::RequestCameraImageCommand* cam = grpcCommand.mutable_requestcameraimagecommand(); + ::pycram_bullet_grpc::RequestCameraImageCommand* cam = grpcCommand.mutable_requestcameraimagecommand(); cam->set_updateflags(clientCmd.m_updateFlags); cam->set_startpixelindex(clientCmd.m_requestPixelDataArguments.m_startPixelIndex); @@ -428,14 +428,14 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe if (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR) { - ::pybullet_grpc::vec3* lightColor = cam->mutable_lightcolor(); + ::pycram_bullet_grpc::vec3* lightColor = cam->mutable_lightcolor(); lightColor->set_x(clientCmd.m_requestPixelDataArguments.m_lightColor[0]); lightColor->set_y(clientCmd.m_requestPixelDataArguments.m_lightColor[1]); lightColor->set_z(clientCmd.m_requestPixelDataArguments.m_lightColor[2]); } if (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) { - ::pybullet_grpc::vec3* lightDir = cam->mutable_lightdirection(); + ::pycram_bullet_grpc::vec3* lightDir = cam->mutable_lightdirection(); lightDir->set_x(clientCmd.m_requestPixelDataArguments.m_lightDirection[0]); lightDir->set_y(clientCmd.m_requestPixelDataArguments.m_lightDirection[1]); lightDir->set_z(clientCmd.m_requestPixelDataArguments.m_lightDirection[2]); @@ -443,8 +443,8 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe if (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES) { - ::pybullet_grpc::matrix4x4* projMat = cam->mutable_projectionmatrix(); - ::pybullet_grpc::matrix4x4* viewMat = cam->mutable_viewmatrix(); + ::pycram_bullet_grpc::matrix4x4* projMat = cam->mutable_projectionmatrix(); + ::pycram_bullet_grpc::matrix4x4* viewMat = cam->mutable_viewmatrix(); for (int i = 0; i < 16; i++) { projMat->add_elems(clientCmd.m_requestPixelDataArguments.m_projectionMatrix[i]); @@ -454,8 +454,8 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe if (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES) { - ::pybullet_grpc::matrix4x4* projectiveProjMat = cam->mutable_projectivetextureprojectionmatrix(); - ::pybullet_grpc::matrix4x4* projectiveViewMat = cam->mutable_projectivetextureviewmatrix(); + ::pycram_bullet_grpc::matrix4x4* projectiveProjMat = cam->mutable_projectivetextureprojectionmatrix(); + ::pycram_bullet_grpc::matrix4x4* projectiveViewMat = cam->mutable_projectivetextureviewmatrix(); for (int i = 0; i < 16; i++) { projectiveProjMat->add_elems(clientCmd.m_requestPixelDataArguments.m_projectiveTextureProjectionMatrix[i]); @@ -584,7 +584,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma cmdPtr = &cmd; b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr; - const ::pybullet_grpc::UserConstraintCommand* con = &grpcCommand.userconstraintcommand(); + const ::pycram_bullet_grpc::UserConstraintCommand* con = &grpcCommand.userconstraintcommand(); clientCmd.m_updateFlags = con->updateflags(); clientCmd.m_userConstraintArguments.m_childFrame[0] = con->childframe().origin().x(); @@ -652,7 +652,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma btAssert(grpcCommand.has_loadurdfcommand()); if (grpcCommand.has_loadurdfcommand()) { - const ::pybullet_grpc::LoadUrdfCommand& grpcCmd = grpcCommand.loadurdfcommand(); + const ::pycram_bullet_grpc::LoadUrdfCommand& grpcCmd = grpcCommand.loadurdfcommand(); std::string fileName = grpcCmd.filename(); if (fileName.length()) @@ -663,23 +663,23 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma if (grpcCmd.has_initialposition()) { - const ::pybullet_grpc::vec3& pos = grpcCmd.initialposition(); + const ::pycram_bullet_grpc::vec3& pos = grpcCmd.initialposition(); b3LoadUrdfCommandSetStartPosition(commandHandle, pos.x(), pos.y(), pos.z()); } if (grpcCmd.has_initialorientation()) { - const ::pybullet_grpc::quat4& orn = grpcCmd.initialorientation(); + const ::pycram_bullet_grpc::quat4& orn = grpcCmd.initialorientation(); b3LoadUrdfCommandSetStartOrientation(commandHandle, orn.x(), orn.y(), orn.z(), orn.w()); } - if (grpcCmd.hasUseMultiBody_case() == ::pybullet_grpc::LoadUrdfCommand::HasUseMultiBodyCase::kUseMultiBody) + if (grpcCmd.hasUseMultiBody_case() == ::pycram_bullet_grpc::LoadUrdfCommand::HasUseMultiBodyCase::kUseMultiBody) { b3LoadUrdfCommandSetUseMultiBody(commandHandle, grpcCmd.usemultibody()); } - if (grpcCmd.hasGlobalScaling_case() == ::pybullet_grpc::LoadUrdfCommand::HasGlobalScalingCase::kGlobalScaling) + if (grpcCmd.hasGlobalScaling_case() == ::pycram_bullet_grpc::LoadUrdfCommand::HasGlobalScalingCase::kGlobalScaling) { b3LoadUrdfCommandSetGlobalScaling(commandHandle, grpcCmd.globalscaling()); } - if (grpcCmd.hasUseFixedBase_case() == ::pybullet_grpc::LoadUrdfCommand::HasUseFixedBaseCase::kUseFixedBase) + if (grpcCmd.hasUseFixedBase_case() == ::pycram_bullet_grpc::LoadUrdfCommand::HasUseFixedBaseCase::kUseFixedBase) { b3LoadUrdfCommandSetUseFixedBase(commandHandle, grpcCmd.usefixedbase()); } @@ -700,7 +700,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma cmdPtr = &cmd; b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr; - const ::pybullet_grpc::InitPoseCommand& grpcCmd = grpcCommand.initposecommand(); + const ::pycram_bullet_grpc::InitPoseCommand& grpcCmd = grpcCommand.initposecommand(); b3CreatePoseCommandInit2(commandHandle, grpcCmd.bodyuniqueid()); cmd.m_updateFlags = grpcCmd.updateflags(); double initialQ[MAX_DEGREE_OF_FREEDOM] = {0}; @@ -753,7 +753,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma { cmdPtr = &cmd; b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr; - const ::pybullet_grpc::RequestActualStateCommand& grpcCmd = grpcCommand.requestactualstatecommand(); + const ::pycram_bullet_grpc::RequestActualStateCommand& grpcCmd = grpcCommand.requestactualstatecommand(); b3RequestActualStateCommandInit2(commandHandle, grpcCmd.bodyuniqueid()); if (grpcCmd.computeforwardkinematics()) { @@ -772,7 +772,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma cmdPtr = &cmd; b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr; - const ::pybullet_grpc::JointMotorControlCommand* motor = &grpcCommand.jointmotorcontrolcommand(); + const ::pycram_bullet_grpc::JointMotorControlCommand* motor = &grpcCommand.jointmotorcontrolcommand(); b3JointControlCommandInit2Internal(commandHandle, motor->bodyuniqueid(), motor->controlmode()); int maxQ = motor->hasdesiredstateflags_size(); @@ -815,7 +815,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma b3InitPhysicsParamCommand2(commandHandle); int updateFlags = grpcCommand.setphysicssimulationparameterscommand().updateflags(); - const ::pybullet_grpc::PhysicsSimulationParameters* params = &grpcCommand.setphysicssimulationparameterscommand().params(); + const ::pycram_bullet_grpc::PhysicsSimulationParameters* params = &grpcCommand.setphysicssimulationparameterscommand().params(); if (updateFlags & SIM_PARAM_UPDATE_DELTA_TIME) { @@ -823,7 +823,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma } if (updateFlags & SIM_PARAM_UPDATE_GRAVITY) { - const ::pybullet_grpc::vec3* grav = ¶ms->gravityacceleration(); + const ::pycram_bullet_grpc::vec3* grav = ¶ms->gravityacceleration(); b3PhysicsParamSetGravity(commandHandle, grav->x(), grav->y(), grav->z()); } @@ -966,7 +966,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma { cmdPtr = &cmd; b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr; - const ::pybullet_grpc::ConfigureOpenGLVisualizerCommand& grpcCmd = grpcCommand.configureopenglvisualizercommand(); + const ::pycram_bullet_grpc::ConfigureOpenGLVisualizerCommand& grpcCmd = grpcCommand.configureopenglvisualizercommand(); b3InitConfigureOpenGLVisualizer2(commandHandle); cmd.m_updateFlags = grpcCmd.updateflags(); @@ -988,7 +988,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr; SharedMemoryCommand& clientCmd = cmd; - const ::pybullet_grpc::RequestCameraImageCommand* cam = &grpcCommand.requestcameraimagecommand(); + const ::pycram_bullet_grpc::RequestCameraImageCommand* cam = &grpcCommand.requestcameraimagecommand(); b3InitRequestCameraImage2(commandHandle); clientCmd.m_updateFlags = cam->updateflags(); @@ -1027,14 +1027,14 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma if (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR) { - const ::pybullet_grpc::vec3* lightColor = &cam->lightcolor(); + const ::pycram_bullet_grpc::vec3* lightColor = &cam->lightcolor(); clientCmd.m_requestPixelDataArguments.m_lightColor[0] = lightColor->x(); clientCmd.m_requestPixelDataArguments.m_lightColor[1] = lightColor->y(); clientCmd.m_requestPixelDataArguments.m_lightColor[2] = lightColor->z(); } if (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) { - const ::pybullet_grpc::vec3* lightDir = &cam->lightdirection(); + const ::pycram_bullet_grpc::vec3* lightDir = &cam->lightdirection(); clientCmd.m_requestPixelDataArguments.m_lightDirection[0] = lightDir->x(); clientCmd.m_requestPixelDataArguments.m_lightDirection[1] = lightDir->y(); clientCmd.m_requestPixelDataArguments.m_lightDirection[2] = lightDir->z(); @@ -1042,8 +1042,8 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma if (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES) { - const ::pybullet_grpc::matrix4x4* projMat = &cam->projectionmatrix(); - const ::pybullet_grpc::matrix4x4* viewMat = &cam->viewmatrix(); + const ::pycram_bullet_grpc::matrix4x4* projMat = &cam->projectionmatrix(); + const ::pycram_bullet_grpc::matrix4x4* viewMat = &cam->viewmatrix(); for (int i = 0; i < 16; i++) { clientCmd.m_requestPixelDataArguments.m_projectionMatrix[i] = projMat->elems(i); @@ -1053,8 +1053,8 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma if (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES) { - const ::pybullet_grpc::matrix4x4* projectiveProjMat = &cam->projectivetextureprojectionmatrix(); - const ::pybullet_grpc::matrix4x4* projectiveViewMat = &cam->projectivetextureviewmatrix(); + const ::pycram_bullet_grpc::matrix4x4* projectiveProjMat = &cam->projectivetextureprojectionmatrix(); + const ::pycram_bullet_grpc::matrix4x4* projectiveViewMat = &cam->projectivetextureviewmatrix(); for (int i = 0; i < 16; i++) { clientCmd.m_requestPixelDataArguments.m_projectiveTextureProjectionMatrix[i] = projectiveProjMat->elems(i); @@ -1072,7 +1072,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma btAssert(grpcCommand.has_loadsdfcommand()); if (grpcCommand.has_loadsdfcommand()) { - const ::pybullet_grpc::LoadSdfCommand& grpcCmd = grpcCommand.loadsdfcommand(); + const ::pycram_bullet_grpc::LoadSdfCommand& grpcCmd = grpcCommand.loadsdfcommand(); std::string fileName = grpcCmd.filename(); if (fileName.length()) @@ -1081,11 +1081,11 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr; b3LoadSdfCommandInit2(commandHandle, fileName.c_str()); - if (grpcCmd.hasUseMultiBody_case() == ::pybullet_grpc::LoadSdfCommand::HasUseMultiBodyCase::kUseMultiBody) + if (grpcCmd.hasUseMultiBody_case() == ::pycram_bullet_grpc::LoadSdfCommand::HasUseMultiBodyCase::kUseMultiBody) { b3LoadSdfCommandSetUseMultiBody(commandHandle, grpcCmd.usemultibody()); } - if (grpcCmd.hasGlobalScaling_case() == ::pybullet_grpc::LoadSdfCommand::HasGlobalScalingCase::kGlobalScaling) + if (grpcCmd.hasGlobalScaling_case() == ::pycram_bullet_grpc::LoadSdfCommand::HasGlobalScalingCase::kGlobalScaling) { b3LoadSdfCommandSetUseGlobalScaling(commandHandle, grpcCmd.globalscaling()); } @@ -1098,7 +1098,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma btAssert(grpcCommand.has_loadmjcfcommand()); if (grpcCommand.has_loadmjcfcommand()) { - const pybullet_grpc::LoadMjcfCommand& grpcCmd = grpcCommand.loadmjcfcommand(); + const pycram_bullet_grpc::LoadMjcfCommand& grpcCmd = grpcCommand.loadmjcfcommand(); std::string fileName = grpcCmd.filename(); if (fileName.length()) @@ -1123,68 +1123,68 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma { cmdPtr = &cmd; b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr; - const ::pybullet_grpc::ChangeDynamicsCommand& grpcCmd = grpcCommand.changedynamicscommand(); + const ::pycram_bullet_grpc::ChangeDynamicsCommand& grpcCmd = grpcCommand.changedynamicscommand(); int bodyUniqueId = grpcCmd.bodyuniqueid(); int linkIndex = grpcCmd.linkindex(); b3InitChangeDynamicsInfo2(commandHandle); - if (grpcCmd.hasMass_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasMassCase::kMass) + if (grpcCmd.hasMass_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasMassCase::kMass) { b3ChangeDynamicsInfoSetMass(commandHandle, bodyUniqueId, linkIndex, grpcCmd.mass()); } - if (grpcCmd.hasLateralFriction_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasLateralFrictionCase::kLateralFriction) + if (grpcCmd.hasLateralFriction_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasLateralFrictionCase::kLateralFriction) { b3ChangeDynamicsInfoSetLateralFriction(commandHandle, bodyUniqueId, linkIndex, grpcCmd.lateralfriction()); } - if (grpcCmd.hasSpinningFriction_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasSpinningFrictionCase::kSpinningFriction) + if (grpcCmd.hasSpinningFriction_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasSpinningFrictionCase::kSpinningFriction) { b3ChangeDynamicsInfoSetSpinningFriction(commandHandle, bodyUniqueId, linkIndex, grpcCmd.spinningfriction()); } - if (grpcCmd.hasRollingFriction_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasRollingFrictionCase::kRollingFriction) + if (grpcCmd.hasRollingFriction_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasRollingFrictionCase::kRollingFriction) { b3ChangeDynamicsInfoSetRollingFriction(commandHandle, bodyUniqueId, linkIndex, grpcCmd.rollingfriction()); } - if (grpcCmd.hasRestitution_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasRestitutionCase::kRestitution) + if (grpcCmd.hasRestitution_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasRestitutionCase::kRestitution) { b3ChangeDynamicsInfoSetRestitution(commandHandle, bodyUniqueId, linkIndex, grpcCmd.restitution()); } - if (grpcCmd.haslinearDamping_case() == ::pybullet_grpc::ChangeDynamicsCommand::HaslinearDampingCase::kLinearDamping) + if (grpcCmd.haslinearDamping_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HaslinearDampingCase::kLinearDamping) { b3ChangeDynamicsInfoSetLinearDamping(commandHandle, bodyUniqueId, grpcCmd.lineardamping()); } - if (grpcCmd.hasangularDamping_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasangularDampingCase::kAngularDamping) + if (grpcCmd.hasangularDamping_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasangularDampingCase::kAngularDamping) { b3ChangeDynamicsInfoSetAngularDamping(commandHandle, bodyUniqueId, grpcCmd.angulardamping()); } - bool hasContactDamping = grpcCmd.hasContactDamping_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasContactDampingCase::kContactDamping; - bool hasContactStiffness = grpcCmd.hasContactStiffness_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasContactStiffnessCase::kContactStiffness; + bool hasContactDamping = grpcCmd.hasContactDamping_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasContactDampingCase::kContactDamping; + bool hasContactStiffness = grpcCmd.hasContactStiffness_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasContactStiffnessCase::kContactStiffness; if (hasContactDamping && hasContactStiffness) { b3ChangeDynamicsInfoSetContactStiffnessAndDamping(commandHandle, bodyUniqueId, linkIndex, grpcCmd.contactstiffness(), grpcCmd.contactdamping()); } - if (grpcCmd.hasLocalInertiaDiagonal_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasLocalInertiaDiagonalCase::kLocalInertiaDiagonal) + if (grpcCmd.hasLocalInertiaDiagonal_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasLocalInertiaDiagonalCase::kLocalInertiaDiagonal) { double localInertiaDiag[3] = {grpcCmd.localinertiadiagonal().x(), grpcCmd.localinertiadiagonal().y(), grpcCmd.localinertiadiagonal().z()}; b3ChangeDynamicsInfoSetLocalInertiaDiagonal(commandHandle, bodyUniqueId, linkIndex, localInertiaDiag); } - if (grpcCmd.hasFrictionAnchor_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasFrictionAnchorCase::kFrictionAnchor) + if (grpcCmd.hasFrictionAnchor_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasFrictionAnchorCase::kFrictionAnchor) { b3ChangeDynamicsInfoSetFrictionAnchor(commandHandle, bodyUniqueId, linkIndex, grpcCmd.frictionanchor()); } - if (grpcCmd.hasccdSweptSphereRadius_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasccdSweptSphereRadiusCase::kCcdSweptSphereRadius) + if (grpcCmd.hasccdSweptSphereRadius_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasccdSweptSphereRadiusCase::kCcdSweptSphereRadius) { b3ChangeDynamicsInfoSetCcdSweptSphereRadius(commandHandle, bodyUniqueId, linkIndex, grpcCmd.ccdsweptsphereradius()); } - if (grpcCmd.hasContactProcessingThreshold_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasContactProcessingThresholdCase::kContactProcessingThreshold) + if (grpcCmd.hasContactProcessingThreshold_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasContactProcessingThresholdCase::kContactProcessingThreshold) { b3ChangeDynamicsInfoSetContactProcessingThreshold(commandHandle, bodyUniqueId, linkIndex, grpcCmd.contactprocessingthreshold()); } - if (grpcCmd.hasActivationState_case() == ::pybullet_grpc::ChangeDynamicsCommand::HasActivationStateCase::kActivationState) + if (grpcCmd.hasActivationState_case() == ::pycram_bullet_grpc::ChangeDynamicsCommand::HasActivationStateCase::kActivationState) { b3ChangeDynamicsInfoSetActivationState(commandHandle, bodyUniqueId, grpcCmd.activationstate()); } @@ -1198,7 +1198,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma { cmdPtr = &cmd; b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr; - const ::pybullet_grpc::GetDynamicsCommand& grpcCmd = grpcCommand.getdynamicscommand(); + const ::pycram_bullet_grpc::GetDynamicsCommand& grpcCmd = grpcCommand.getdynamicscommand(); b3GetDynamicsInfoCommandInit2(commandHandle, grpcCmd.bodyuniqueid(), grpcCmd.linkindex()); } break; @@ -1250,7 +1250,7 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se case CMD_ACTUAL_STATE_UPDATE_COMPLETED: { converted = true; - const ::pybullet_grpc::SendActualStateStatus* stat = &grpcReply.actualstatestatus(); + const ::pycram_bullet_grpc::SendActualStateStatus* stat = &grpcReply.actualstatestatus(); serverStatus.m_sendActualStateArgs.m_bodyUniqueId = stat->bodyuniqueid(); int numLinks = stat->numlinks(); serverStatus.m_sendActualStateArgs.m_numLinks = numLinks; @@ -1301,13 +1301,13 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED: { converted = true; - const ::pybullet_grpc::KeyboardEventsStatus* keys = &grpcReply.keyboardeventsstatus(); + const ::pycram_bullet_grpc::KeyboardEventsStatus* keys = &grpcReply.keyboardeventsstatus(); serverStatus.m_sendKeyboardEvents.m_numKeyboardEvents = keys->keyboardevents_size(); for (int i = 0; i < serverStatus.m_sendKeyboardEvents.m_numKeyboardEvents; i++) { - const ::pybullet_grpc::KeyboardEvent* key = &keys->keyboardevents(i); + const ::pycram_bullet_grpc::KeyboardEvent* key = &keys->keyboardevents(i); serverStatus.m_sendKeyboardEvents.m_keyboardEvents[i].m_keyCode = key->keycode(); serverStatus.m_sendKeyboardEvents.m_keyboardEvents[i].m_keyState = key->keystate(); } @@ -1317,7 +1317,7 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED: { - const ::pybullet_grpc::PhysicsSimulationParameters* params = &grpcReply.requestphysicssimulationparametersstatus(); + const ::pycram_bullet_grpc::PhysicsSimulationParameters* params = &grpcReply.requestphysicssimulationparametersstatus(); serverStatus.m_simulationParameterResultArgs.m_allowedCcdPenetration = params->allowedccdpenetration(); serverStatus.m_simulationParameterResultArgs.m_collisionFilterMode = params->collisionfiltermode(); serverStatus.m_simulationParameterResultArgs.m_constraintSolverType = params->constraintsolvertype(); @@ -1416,7 +1416,7 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se case CMD_SDF_LOADING_COMPLETED: { converted = true; - const ::pybullet_grpc::SdfLoadedStatus* stat = &grpcReply.sdfstatus(); + const ::pycram_bullet_grpc::SdfLoadedStatus* stat = &grpcReply.sdfstatus(); int numBodies = stat->bodyuniqueids_size(); if (numBodies > MAX_SDF_BODIES) { @@ -1436,7 +1436,7 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se } case CMD_USER_CONSTRAINT_COMPLETED: { - const ::pybullet_grpc::UserConstraintStatus* con = &grpcReply.userconstraintstatus(); + const ::pycram_bullet_grpc::UserConstraintStatus* con = &grpcReply.userconstraintstatus(); serverStatus.m_userConstraintResultArgs.m_userConstraintUniqueId = con->userconstraintuniqueid(); serverStatus.m_userConstraintResultArgs.m_maxAppliedForce = con->maxappliedforce(); converted = true; @@ -1455,7 +1455,7 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se case CMD_CAMERA_IMAGE_COMPLETED: { converted = true; - const ::pybullet_grpc::RequestCameraImageStatus* cam = &grpcReply.requestcameraimagestatus(); + const ::pycram_bullet_grpc::RequestCameraImageStatus* cam = &grpcReply.requestcameraimagestatus(); serverStatus.m_sendPixelDataArguments.m_imageWidth = cam->imagewidth(); serverStatus.m_sendPixelDataArguments.m_imageHeight = cam->imageheight(); serverStatus.m_sendPixelDataArguments.m_numPixelsCopied = cam->numpixelscopied(); @@ -1466,7 +1466,7 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se case CMD_GET_DYNAMICS_INFO_COMPLETED: { converted = true; - const ::pybullet_grpc::GetDynamicsStatus* stat = &grpcReply.getdynamicsstatus(); + const ::pycram_bullet_grpc::GetDynamicsStatus* stat = &grpcReply.getdynamicsstatus(); serverStatus.m_dynamicsInfo.m_mass = stat->mass(); serverStatus.m_dynamicsInfo.m_lateralFrictionCoeff = stat->lateralfriction(); serverStatus.m_dynamicsInfo.m_spinningFrictionCoeff = stat->spinningfriction(); @@ -1540,11 +1540,11 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED: { converted = true; - ::pybullet_grpc::KeyboardEventsStatus* keys = grpcReply.mutable_keyboardeventsstatus(); + ::pycram_bullet_grpc::KeyboardEventsStatus* keys = grpcReply.mutable_keyboardeventsstatus(); for (int i = 0; i < serverStatus.m_sendKeyboardEvents.m_numKeyboardEvents; i++) { - ::pybullet_grpc::KeyboardEvent* key = keys->add_keyboardevents(); + ::pycram_bullet_grpc::KeyboardEvent* key = keys->add_keyboardevents(); key->set_keycode(serverStatus.m_sendKeyboardEvents.m_keyboardEvents[i].m_keyCode); key->set_keystate(serverStatus.m_sendKeyboardEvents.m_keyboardEvents[i].m_keyState); } @@ -1553,7 +1553,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer } case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED: { - ::pybullet_grpc::PhysicsSimulationParameters* params = grpcReply.mutable_requestphysicssimulationparametersstatus(); + ::pycram_bullet_grpc::PhysicsSimulationParameters* params = grpcReply.mutable_requestphysicssimulationparametersstatus(); params->set_allowedccdpenetration(serverStatus.m_simulationParameterResultArgs.m_allowedCcdPenetration); params->set_collisionfiltermode(serverStatus.m_simulationParameterResultArgs.m_collisionFilterMode); params->set_constraintsolvertype(serverStatus.m_simulationParameterResultArgs.m_constraintSolverType); @@ -1569,7 +1569,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer params->set_enablesat(serverStatus.m_simulationParameterResultArgs.m_enableSAT); params->set_frictioncfm(serverStatus.m_simulationParameterResultArgs.m_frictionCFM); params->set_frictionerp(serverStatus.m_simulationParameterResultArgs.m_frictionERP); - ::pybullet_grpc::vec3* grav = params->mutable_gravityacceleration(); + ::pycram_bullet_grpc::vec3* grav = params->mutable_gravityacceleration(); grav->set_x(serverStatus.m_simulationParameterResultArgs.m_gravityAcceleration[0]); grav->set_y(serverStatus.m_simulationParameterResultArgs.m_gravityAcceleration[1]); grav->set_z(serverStatus.m_simulationParameterResultArgs.m_gravityAcceleration[2]); @@ -1590,14 +1590,14 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer case CMD_BODY_INFO_COMPLETED: { converted = true; - ::pybullet_grpc::RequestBodyInfoStatus* stat = grpcReply.mutable_requestbodyinfostatus(); + ::pycram_bullet_grpc::RequestBodyInfoStatus* stat = grpcReply.mutable_requestbodyinfostatus(); stat->set_bodyuniqueid(serverStatus.m_dataStreamArguments.m_bodyUniqueId); stat->set_bodyname(serverStatus.m_dataStreamArguments.m_bodyName); break; } case CMD_SYNC_BODY_INFO_COMPLETED: { - ::pybullet_grpc::SyncBodiesStatus* stat = grpcReply.mutable_syncbodiesstatus(); + ::pycram_bullet_grpc::SyncBodiesStatus* stat = grpcReply.mutable_syncbodiesstatus(); for (int i = 0; i < serverStatus.m_sdfLoadedArgs.m_numBodies; i++) { @@ -1620,7 +1620,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer case CMD_URDF_LOADING_COMPLETED: { converted = true; - ::pybullet_grpc::LoadUrdfStatus* stat = grpcReply.mutable_urdfstatus(); + ::pycram_bullet_grpc::LoadUrdfStatus* stat = grpcReply.mutable_urdfstatus(); b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)&serverStatus; int objectUniqueId = b3GetStatusBodyIndex(statusHandle); stat->set_bodyuniqueid(objectUniqueId); @@ -1631,7 +1631,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer { converted = true; int bodyIndicesOut[MAX_SDF_BODIES]; - ::pybullet_grpc::SdfLoadedStatus* stat = grpcReply.mutable_sdfstatus(); + ::pycram_bullet_grpc::SdfLoadedStatus* stat = grpcReply.mutable_sdfstatus(); b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)&serverStatus; int numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES); if (numBodies > MAX_SDF_BODIES) @@ -1648,7 +1648,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer { converted = true; int bodyIndicesOut[MAX_SDF_BODIES]; - ::pybullet_grpc::MjcfLoadedStatus* stat = grpcReply.mutable_mjcfstatus(); + ::pycram_bullet_grpc::MjcfLoadedStatus* stat = grpcReply.mutable_mjcfstatus(); b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)&serverStatus; int numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES); if (numBodies > MAX_SDF_BODIES) @@ -1668,7 +1668,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)&serverStatus; if (b3GetDynamicsInfo(statusHandle, &info)) { - ::pybullet_grpc::GetDynamicsStatus* stat = grpcReply.mutable_getdynamicsstatus(); + ::pycram_bullet_grpc::GetDynamicsStatus* stat = grpcReply.mutable_getdynamicsstatus(); stat->set_mass(info.m_mass); stat->set_lateralfriction(info.m_lateralFrictionCoeff); @@ -1681,7 +1681,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer stat->set_contactstiffness(info.m_contactStiffness); stat->set_contactdamping(info.m_contactDamping); - pybullet_grpc::vec3* localInertia = stat->mutable_localinertiadiagonal(); + pycram_bullet_grpc::vec3* localInertia = stat->mutable_localinertiadiagonal(); localInertia->set_x(info.m_localInertialDiagonal[0]); localInertia->set_y(info.m_localInertialDiagonal[1]); localInertia->set_z(info.m_localInertialDiagonal[2]); @@ -1730,7 +1730,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer &linkStates, &linkWorldVelocities)) { - ::pybullet_grpc::SendActualStateStatus* stat = grpcReply.mutable_actualstatestatus(); + ::pycram_bullet_grpc::SendActualStateStatus* stat = grpcReply.mutable_actualstatestatus(); stat->set_bodyuniqueid(bodyUniqueId); stat->set_numlinks(numLinks); @@ -1784,7 +1784,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer } case CMD_USER_CONSTRAINT_COMPLETED: { - ::pybullet_grpc::UserConstraintStatus* con = grpcReply.mutable_userconstraintstatus(); + ::pycram_bullet_grpc::UserConstraintStatus* con = grpcReply.mutable_userconstraintstatus(); con->set_userconstraintuniqueid(serverStatus.m_userConstraintResultArgs.m_userConstraintUniqueId); con->set_maxappliedforce(serverStatus.m_userConstraintResultArgs.m_maxAppliedForce); converted = true; @@ -1803,7 +1803,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer case CMD_CAMERA_IMAGE_COMPLETED: { converted = true; - ::pybullet_grpc::RequestCameraImageStatus* cam = grpcReply.mutable_requestcameraimagestatus(); + ::pycram_bullet_grpc::RequestCameraImageStatus* cam = grpcReply.mutable_requestcameraimagestatus(); cam->set_imagewidth(serverStatus.m_sendPixelDataArguments.m_imageWidth); cam->set_imageheight(serverStatus.m_sendPixelDataArguments.m_imageHeight); cam->set_numpixelscopied(serverStatus.m_sendPixelDataArguments.m_numPixelsCopied); diff --git a/examples/SharedMemory/grpc/ConvertGRPCBullet.h b/examples/SharedMemory/grpc/ConvertGRPCBullet.h index 4279eeebac..fe19f40b96 100644 --- a/examples/SharedMemory/grpc/ConvertGRPCBullet.h +++ b/examples/SharedMemory/grpc/ConvertGRPCBullet.h @@ -4,18 +4,18 @@ #include "../PhysicsClientC_API.h" -namespace pybullet_grpc +namespace pycram_bullet_grpc { class PyBulletCommand; class PyBulletStatus; -}; // namespace pybullet_grpc +}; // namespace pycram_bullet_grpc -struct SharedMemoryCommand* convertGRPCToBulletCommand(const pybullet_grpc::PyBulletCommand& grpcCommand, struct SharedMemoryCommand& cmd); +struct SharedMemoryCommand* convertGRPCToBulletCommand(const pycram_bullet_grpc::PyBulletCommand& grpcCommand, struct SharedMemoryCommand& cmd); -pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMemoryCommand& clientCmd, pybullet_grpc::PyBulletCommand& grpcCommand); +pycram_bullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMemoryCommand& clientCmd, pycram_bullet_grpc::PyBulletCommand& grpcCommand); -bool convertGRPCToStatus(const pybullet_grpc::PyBulletStatus& grpcReply, struct SharedMemoryStatus& serverStatus, char* bufferServerToClient, int bufferSizeInBytes); +bool convertGRPCToStatus(const pycram_bullet_grpc::PyBulletStatus& grpcReply, struct SharedMemoryStatus& serverStatus, char* bufferServerToClient, int bufferSizeInBytes); -bool convertStatusToGRPC(const struct SharedMemoryStatus& serverStatus, char* bufferServerToClient, int bufferSizeInBytes, pybullet_grpc::PyBulletStatus& grpcReply); +bool convertStatusToGRPC(const struct SharedMemoryStatus& serverStatus, char* bufferServerToClient, int bufferSizeInBytes, pycram_bullet_grpc::PyBulletStatus& grpcReply); #endif //BT_CONVERT_GRPC_BULLET_H \ No newline at end of file diff --git a/examples/SharedMemory/grpc/main.cpp b/examples/SharedMemory/grpc/main.cpp index ec72104b85..2d2b4ce3c7 100644 --- a/examples/SharedMemory/grpc/main.cpp +++ b/examples/SharedMemory/grpc/main.cpp @@ -27,7 +27,7 @@ typedef SharedMemoryCommandProcessor MyCommandProcessor; #include #include -#include "SharedMemory/grpc/proto/pybullet.grpc.pb.h" +#include "SharedMemory/grpc/proto/pycram_bullet.grpc.pb.h" using grpc::Server; using grpc::ServerAsyncResponseWriter; @@ -35,9 +35,9 @@ using grpc::ServerBuilder; using grpc::ServerCompletionQueue; using grpc::ServerContext; using grpc::Status; -using pybullet_grpc::PyBulletAPI; -using pybullet_grpc::PyBulletCommand; -using pybullet_grpc::PyBulletStatus; +using pycram_bullet_grpc::PyBulletAPI; +using pycram_bullet_grpc::PyBulletCommand; +using pycram_bullet_grpc::PyBulletStatus; bool gVerboseNetworkMessagesServer = true; #include "ConvertGRPCBullet.h" diff --git a/examples/SharedMemory/grpc/proto/createProtobufs.bat b/examples/SharedMemory/grpc/proto/createProtobufs.bat index 0ce93f055a..96bdd754b5 100644 --- a/examples/SharedMemory/grpc/proto/createProtobufs.bat +++ b/examples/SharedMemory/grpc/proto/createProtobufs.bat @@ -1,16 +1,16 @@ -del pybullet.pb.cpp -del pybullet.pb.h -del pybullet.grpc.pb.cpp -del pybullet.grpc.pb.h +del pycram_bullet.pb.cpp +del pycram_bullet.pb.h +del pycram_bullet.grpc.pb.cpp +del pycram_bullet.grpc.pb.h -..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --cpp_out=. pybullet.proto -..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc.exe --plugin=protoc-gen-grpc="..\..\..\ThirdPartyLibs\grpc\lib\win32\grpc_cpp_plugin.exe" --grpc_out=. pybullet.proto +..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --cpp_out=. pycram_bullet.proto +..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc.exe --plugin=protoc-gen-grpc="..\..\..\ThirdPartyLibs\grpc\lib\win32\grpc_cpp_plugin.exe" --grpc_out=. pycram_bullet.proto -rename pybullet.grpc.pb.cc pybullet.grpc.pb.cpp -rename pybullet.pb.cc pybullet.pb.cpp +rename pycram_bullet.grpc.pb.cc pycram_bullet.grpc.pb.cpp +rename pycram_bullet.pb.cc pycram_bullet.pb.cpp -del pybullet_pb2.py -del pybullet_pb2_grpc.py +del pycram_bullet_pb2.py +del pycram_bullet_pb2_grpc.py -..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --python_out=. pybullet.proto -python -m grpc_tools.protoc -I. --python_out=. --grpc_python_out=. pybullet.proto +..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --python_out=. pycram_bullet.proto +python -m grpc_tools.protoc -I. --python_out=. --grpc_python_out=. pycram_bullet.proto diff --git a/examples/SharedMemory/grpc/proto/createProtobufs.sh b/examples/SharedMemory/grpc/proto/createProtobufs.sh index 8ac6e95d26..ea34ce988b 100755 --- a/examples/SharedMemory/grpc/proto/createProtobufs.sh +++ b/examples/SharedMemory/grpc/proto/createProtobufs.sh @@ -1,15 +1,15 @@ -rm pybullet.pb.cpp -rm pybullet.pb.h -rm pybullet.grpc.pb.cpp -rm pybullet.grpc.pb.h +rm pycram_bullet.pb.cpp +rm pycram_bullet.pb.h +rm pycram_bullet.grpc.pb.cpp +rm pycram_bullet.grpc.pb.h -protoc --proto_path=. --cpp_out=. pybullet.proto -protoc --plugin=protoc-gen-grpc=`which grpc_cpp_plugin` --grpc_out=. pybullet.proto -mv pybullet.grpc.pb.cc pybullet.grpc.pb.cpp -mv pybullet.pb.cc pybullet.pb.cpp +protoc --proto_path=. --cpp_out=. pycram_bullet.proto +protoc --plugin=protoc-gen-grpc=`which grpc_cpp_plugin` --grpc_out=. pycram_bullet.proto +mv pycram_bullet.grpc.pb.cc pycram_bullet.grpc.pb.cpp +mv pycram_bullet.pb.cc pycram_bullet.pb.cpp -rm pybullet_pb2.py -rm pybullet_pb2_grpc.py +rm pycram_bullet_pb2.py +rm pycram_bullet_pb2_grpc.py -protoc --proto_path=. --python_out=. pybullet.proto -python -m grpc_tools.protoc -I. --python_out=. --grpc_python_out=. pybullet.proto +protoc --proto_path=. --python_out=. pycram_bullet.proto +python -m grpc_tools.protoc -I. --python_out=. --grpc_python_out=. pycram_bullet.proto diff --git a/examples/SharedMemory/grpc/proto/pybullet.proto b/examples/SharedMemory/grpc/proto/pycram_bullet.proto similarity index 99% rename from examples/SharedMemory/grpc/proto/pybullet.proto rename to examples/SharedMemory/grpc/proto/pycram_bullet.proto index 721c74fe69..ee5cbce463 100644 --- a/examples/SharedMemory/grpc/proto/pybullet.proto +++ b/examples/SharedMemory/grpc/proto/pycram_bullet.proto @@ -4,12 +4,12 @@ syntax = "proto3"; //https://github.com/protocolbuffers/protobuf/issues/1606 option java_multiple_files = true; -option java_package = "io.grpc.pybullet_grpc"; +option java_package = "io.grpc.pycram_bullet_grpc"; option java_outer_classname = "PyBulletProto"; option objc_class_prefix = "PBG"; -package pybullet_grpc; +package pycram_bullet_grpc; service PyBulletAPI { // Sends a greeting diff --git a/examples/SharedMemory/grpc/pybullet_client.py b/examples/SharedMemory/grpc/pycram_bullet_client.py similarity index 63% rename from examples/SharedMemory/grpc/pybullet_client.py rename to examples/SharedMemory/grpc/pycram_bullet_client.py index 6b4a2d6dea..7786d4cac7 100644 --- a/examples/SharedMemory/grpc/pybullet_client.py +++ b/examples/SharedMemory/grpc/pycram_bullet_client.py @@ -4,8 +4,8 @@ import grpc -import pybullet_pb2 -import pybullet_pb2_grpc +import pycram_bullet_pb2 +import pycram_bullet_pb2_grpc #todo: how to add this? MJCF_COLORS_FROM_FILE = 512 @@ -14,26 +14,26 @@ def run(): print("grpc.insecure_channel") channel = grpc.insecure_channel('localhost:6667') - print("pybullet_pb2_grpc.PyBulletAPIStub") - stub = pybullet_pb2_grpc.PyBulletAPIStub(channel) + print("pycram_bullet_pb2_grpc.PyBulletAPIStub") + stub = pycram_bullet_pb2_grpc.PyBulletAPIStub(channel) response = 0 print("submit CheckVersionCommand") response = stub.SubmitCommand( - pybullet_pb2.PyBulletCommand(checkVersionCommand=pybullet_pb2.CheckVersionCommand( + pycram_bullet_pb2.PyBulletCommand(checkVersionCommand=pycram_bullet_pb2.CheckVersionCommand( clientVersion=123))) print("PyBullet client received: ", response) print("submit_ResetSimulationCommand") response = stub.SubmitCommand( - pybullet_pb2.PyBulletCommand(resetSimulationCommand=pybullet_pb2.ResetSimulationCommand())) + pycram_bullet_pb2.PyBulletCommand(resetSimulationCommand=pycram_bullet_pb2.ResetSimulationCommand())) print("PyBullet client received: ", response) print("submit LoadUrdfCommand ") response = stub.SubmitCommand( - pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand( + pycram_bullet_pb2.PyBulletCommand(loadUrdfCommand=pycram_bullet_pb2.LoadUrdfCommand( fileName="door.urdf", - initialPosition=pybullet_pb2.vec3(x=0, y=0, z=0), + initialPosition=pycram_bullet_pb2.vec3(x=0, y=0, z=0), useMultiBody=True, useFixedBase=True, globalScaling=2, @@ -43,38 +43,38 @@ def run(): print("submit LoadSdfCommand") response = stub.SubmitCommand( - pybullet_pb2.PyBulletCommand(loadSdfCommand=pybullet_pb2.LoadSdfCommand( + pycram_bullet_pb2.PyBulletCommand(loadSdfCommand=pycram_bullet_pb2.LoadSdfCommand( fileName="two_cubes.sdf", useMultiBody=True, globalScaling=2))) print("PyBullet client received: ", response) print("submit LoadMjcfCommand") response = stub.SubmitCommand( - pybullet_pb2.PyBulletCommand(loadMjcfCommand=pybullet_pb2.LoadMjcfCommand( + pycram_bullet_pb2.PyBulletCommand(loadMjcfCommand=pycram_bullet_pb2.LoadMjcfCommand( fileName="mjcf/humanoid.xml", flags=MJCF_COLORS_FROM_FILE))) print("PyBullet client received: ", response) print("submit ChangeDynamicsCommand ") response = stub.SubmitCommand( - pybullet_pb2.PyBulletCommand(changeDynamicsCommand=pybullet_pb2.ChangeDynamicsCommand( + pycram_bullet_pb2.PyBulletCommand(changeDynamicsCommand=pycram_bullet_pb2.ChangeDynamicsCommand( bodyUniqueId=bodyUniqueId, linkIndex=-1, mass=10))) print("PyBullet client received: ", response) print("submit GetDynamicsCommand ") response = stub.SubmitCommand( - pybullet_pb2.PyBulletCommand(getDynamicsCommand=pybullet_pb2.GetDynamicsCommand( + pycram_bullet_pb2.PyBulletCommand(getDynamicsCommand=pycram_bullet_pb2.GetDynamicsCommand( bodyUniqueId=bodyUniqueId, linkIndex=-1))) print("PyBullet client received: ", response) print("submit InitPoseCommand") response = stub.SubmitCommand( - pybullet_pb2.PyBulletCommand(initPoseCommand=pybullet_pb2.InitPoseCommand( + pycram_bullet_pb2.PyBulletCommand(initPoseCommand=pycram_bullet_pb2.InitPoseCommand( bodyUniqueId=bodyUniqueId, initialStateQ=[1, 2, 3], hasInitialStateQ=[1, 1, 1]))) print("PyBullet client received: ", response) print("submit RequestActualStateCommand") response = stub.SubmitCommand( - pybullet_pb2. - PyBulletCommand(requestActualStateCommand=pybullet_pb2.RequestActualStateCommand( + pycram_bullet_pb2. + PyBulletCommand(requestActualStateCommand=pycram_bullet_pb2.RequestActualStateCommand( bodyUniqueId=bodyUniqueId, computeForwardKinematics=True, computeLinkVelocities=True))) print("PyBullet client received: ", response) @@ -83,12 +83,12 @@ def run(): i = i + 1 print("submit StepSimulationCommand: ", i) response = stub.SubmitCommand( - pybullet_pb2.PyBulletCommand(stepSimulationCommand=pybullet_pb2.StepSimulationCommand())) + pycram_bullet_pb2.PyBulletCommand(stepSimulationCommand=pycram_bullet_pb2.StepSimulationCommand())) print("PyBullet client received: ", response.statusType) #print("TerminateServerCommand") -#response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(terminateServerCommand=pybullet_pb2.TerminateServerCommand())) +#response = stub.SubmitCommand(pycram_bullet_pb2.PyBulletCommand(terminateServerCommand=pycram_bullet_pb2.TerminateServerCommand())) #print("PyBullet client received: " , response.statusType) if __name__ == '__main__': diff --git a/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp b/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp index 981b91caac..97f81e8625 100644 --- a/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp +++ b/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp @@ -1,7 +1,7 @@ //tinyRendererPlugin implements the TinyRenderer as a plugin //it is statically linked when using preprocessor #define STATIC_LINK_VR_PLUGIN -//otherwise you can dynamically load it using pybullet.loadPlugin +//otherwise you can dynamically load it using pycram_bullet.loadPlugin #include "collisionFilterPlugin.h" #include "../../SharedMemoryPublic.h" diff --git a/examples/SharedMemory/plugins/collisionFilterPlugin/premake4.lua b/examples/SharedMemory/plugins/collisionFilterPlugin/premake4.lua index 292447fb72..eeb6dce62e 100644 --- a/examples/SharedMemory/plugins/collisionFilterPlugin/premake4.lua +++ b/examples/SharedMemory/plugins/collisionFilterPlugin/premake4.lua @@ -1,6 +1,6 @@ -project ("pybullet_collisionFilterPlugin") +project ("pycram_bullet_collisionFilterPlugin") language "C++" kind "SharedLib" diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp index c67384579f..554f051464 100644 --- a/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp +++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp @@ -9,7 +9,7 @@ //eglRenderer plugin -//see Bullet/examples/pybullet/examples/eglRendererTest.py +//see Bullet/examples/pycram_bullet/examples/eglRendererTest.py #include "eglRendererPlugin.h" #include "eglRendererVisualShapeConverter.h" diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp index 11ca84e0b3..c46c1a2216 100644 --- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp @@ -1061,7 +1061,7 @@ void EGLRendererVisualShapeConverter::updateShape(int shapeUniqueId, const btVec // If you are getting segfaults in this function it may be ecause you are -// compliling the plugin with differently from pybullet, try compiling the +// compliling the plugin with differently from pycram_bullet, try compiling the // plugin with distutils too. int EGLRendererVisualShapeConverter::convertVisualShapes( int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, diff --git a/examples/SharedMemory/plugins/eglPlugin/premake4.lua b/examples/SharedMemory/plugins/eglPlugin/premake4.lua index 544074989b..ee06470655 100644 --- a/examples/SharedMemory/plugins/eglPlugin/premake4.lua +++ b/examples/SharedMemory/plugins/eglPlugin/premake4.lua @@ -1,6 +1,6 @@ -project ("pybullet_eglRendererPlugin") +project ("pycram_bullet_eglRendererPlugin") language "C++" kind "SharedLib" initEGL() diff --git a/examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp b/examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp index 3193840d1a..58d02c3dba 100644 --- a/examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp +++ b/examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp @@ -17,7 +17,7 @@ #include #include #include "../../../Utils/b3Clock.h" -#include "SharedMemory/grpc/proto/pybullet.grpc.pb.h" +#include "SharedMemory/grpc/proto/pycram_bullet.grpc.pb.h" #include "SharedMemory/grpc/ConvertGRPCBullet.h" using grpc::Server; using grpc::ServerAsyncResponseWriter; @@ -25,9 +25,9 @@ using grpc::ServerBuilder; using grpc::ServerCompletionQueue; using grpc::ServerContext; using grpc::Status; -using pybullet_grpc::PyBulletAPI; -using pybullet_grpc::PyBulletCommand; -using pybullet_grpc::PyBulletStatus; +using pycram_bullet_grpc::PyBulletAPI; +using pycram_bullet_grpc::PyBulletCommand; +using pycram_bullet_grpc::PyBulletStatus; bool gVerboseNetworkMessagesServer4 = false; diff --git a/examples/SharedMemory/plugins/grpcPlugin/premake4.lua b/examples/SharedMemory/plugins/grpcPlugin/premake4.lua index d4e081571d..2a6cdd5218 100644 --- a/examples/SharedMemory/plugins/grpcPlugin/premake4.lua +++ b/examples/SharedMemory/plugins/grpcPlugin/premake4.lua @@ -1,6 +1,6 @@ -project ("pybullet_grpcPlugin") +project ("pycram_bullet_grpcPlugin") language "C++" kind "SharedLib" diff --git a/examples/SharedMemory/plugins/pdControlPlugin/premake4.lua b/examples/SharedMemory/plugins/pdControlPlugin/premake4.lua index 4b52cacdd3..12d855da26 100644 --- a/examples/SharedMemory/plugins/pdControlPlugin/premake4.lua +++ b/examples/SharedMemory/plugins/pdControlPlugin/premake4.lua @@ -1,6 +1,6 @@ -project ("pybullet_pdControlPlugin") +project ("pycram_bullet_pdControlPlugin") language "C++" kind "SharedLib" diff --git a/examples/SharedMemory/plugins/testPlugin/premake4.lua b/examples/SharedMemory/plugins/testPlugin/premake4.lua index edc27bacfb..c9895f87bb 100644 --- a/examples/SharedMemory/plugins/testPlugin/premake4.lua +++ b/examples/SharedMemory/plugins/testPlugin/premake4.lua @@ -1,6 +1,6 @@ -project ("pybullet_testplugin") +project ("pycram_bullet_testplugin") language "C++" kind "SharedLib" diff --git a/examples/SharedMemory/plugins/testPlugin/testplugin.cpp b/examples/SharedMemory/plugins/testPlugin/testplugin.cpp index 8fc3f8fb87..a68199c16a 100644 --- a/examples/SharedMemory/plugins/testPlugin/testplugin.cpp +++ b/examples/SharedMemory/plugins/testPlugin/testplugin.cpp @@ -2,9 +2,9 @@ //test plugin, can load a URDF file, example usage on a Windows machine: /* -import pybullet as p +import pycram_bullet as p p.connect(p.GUI) -pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll") +pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pycram_bullet_testplugin_vs2010_x64_debug.dll") commandUid = 0 argument = "plane.urdf" p.executePluginCommand(pluginUid,commandUid,argument) diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua b/examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua index 20105e0a37..b1014fb5a1 100644 --- a/examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua +++ b/examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua @@ -1,6 +1,6 @@ -project ("pybullet_tinyRendererPlugin") +project ("pycram_bullet_tinyRendererPlugin") language "C++" kind "SharedLib" diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp b/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp index 013314380b..a086aebb5e 100644 --- a/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp +++ b/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp @@ -2,9 +2,9 @@ //tinyRenderer plugin /* -import pybullet as p +import pycram_bullet as p p.connect(p.GUI) -plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin") +plugin = p.loadPlugin("e:/develop/bullet3/bin/pycram_bullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin") print("plugin=",plugin) p.loadURDF("r2d2.urdf") while (1): diff --git a/examples/SharedMemory/plugins/vrSyncPlugin/premake4.lua b/examples/SharedMemory/plugins/vrSyncPlugin/premake4.lua index f23cc6c7e7..195b4dc33e 100644 --- a/examples/SharedMemory/plugins/vrSyncPlugin/premake4.lua +++ b/examples/SharedMemory/plugins/vrSyncPlugin/premake4.lua @@ -1,6 +1,6 @@ -project ("pybullet_vrSyncPlugin") +project ("pycram_bullet_vrSyncPlugin") language "C++" kind "SharedLib" diff --git a/examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp b/examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp index 5d15c44edd..1de0e870f7 100644 --- a/examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp +++ b/examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp @@ -3,7 +3,7 @@ //and set change the user constraint to match the pose //in Python you can load and configure the plugin like this: -//plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll") +//plugin = p.loadPlugin("e:/develop/bullet3/bin/pycram_bullet_vrSyncPlugin_vs2010_x64_release.dll") //could also be plugin = p.loadPlugin("vrSyncPlugin.so") on Mac/Linux //controllerId = 3 @@ -63,7 +63,7 @@ B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* con struct b3UserConstraint constraintInfo; if (b3GetUserConstraintInfo(context->m_physClient, obj->m_constraintId, &constraintInfo)) { - //this is basically equivalent to doing this in Python/pybullet: + //this is basically equivalent to doing this in Python/pycram_bullet: //p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=...) b3SharedMemoryCommandHandle commandHandle; int userConstraintUniqueId = obj->m_constraintId; diff --git a/examples/pybullet/examples/renderPlugin.py b/examples/pybullet/examples/renderPlugin.py deleted file mode 100644 index 111aef5b3d..0000000000 --- a/examples/pybullet/examples/renderPlugin.py +++ /dev/null @@ -1,12 +0,0 @@ -import pybullet as p -import pybullet_data - -p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) -plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll", - "_testPlugin") -print("plugin=", plugin) -p.loadURDF("r2d2.urdf") - -while (1): - p.getCameraImage(320, 200) diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/scenes/simple_scene.gin b/examples/pybullet/gym/pybullet_data/configs_v2/scenes/simple_scene.gin deleted file mode 100644 index 6cb12467ad..0000000000 --- a/examples/pybullet/gym/pybullet_data/configs_v2/scenes/simple_scene.gin +++ /dev/null @@ -1,4 +0,0 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.simple_scene - -locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene() diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task.gin b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task.gin deleted file mode 100644 index 3164317109..0000000000 --- a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task.gin +++ /dev/null @@ -1,4 +0,0 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task - -locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask() diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/.DS_Store b/examples/pybullet/gym/pybullet_data/random_urdfs/.DS_Store deleted file mode 100644 index 70d1d2590c..0000000000 Binary files a/examples/pybullet/gym/pybullet_data/random_urdfs/.DS_Store and /dev/null differ diff --git a/examples/pybullet/gym/pybullet_envs/baselines/__init__.py b/examples/pybullet/gym/pybullet_envs/baselines/__init__.py deleted file mode 100644 index e7d027b194..0000000000 --- a/examples/pybullet/gym/pybullet_envs/baselines/__init__.py +++ /dev/null @@ -1,9 +0,0 @@ -from . import enjoy_kuka_grasping -from . import enjoy_pybullet_cartpole -from . import enjoy_pybullet_racecar -from . import enjoy_pybullet_zed_racecar -from . import train_kuka_cam_grasping -from . import train_kuka_grasping -from . import train_pybullet_cartpole -from . import train_pybullet_racecar -from . import train_pybullet_zed_racecar diff --git a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py deleted file mode 100644 index a50b9b5d63..0000000000 --- a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py +++ /dev/null @@ -1,9 +0,0 @@ -from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv -from pybullet_envs.bullet.cartpole_bullet import CartPoleContinuousBulletEnv -from pybullet_envs.bullet.minitaur_gym_env import MinitaurBulletEnv -from pybullet_envs.bullet.minitaur_duck_gym_env import MinitaurBulletDuckEnv -from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv -from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv -from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv -from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv -from pybullet_envs.bullet.kuka_diverse_object_gym_env import KukaDiverseObjectEnv diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/__init__.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/__init__.py deleted file mode 100644 index 44f79b4992..0000000000 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -from pybullet_envs.deep_mimic.gym_env.deep_mimic_env import HumanoidDeepMimicBackflipBulletEnv -from pybullet_envs.deep_mimic.gym_env.deep_mimic_env import HumanoidDeepMimicWalkBulletEnv - diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/__init__.py deleted file mode 100644 index 103471d35e..0000000000 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/__init__.py +++ /dev/null @@ -1,8 +0,0 @@ -from pybullet_envs.minitaur.envs.minitaur_alternating_legs_env import MinitaurAlternatingLegsEnv -from pybullet_envs.minitaur.envs.minitaur_ball_gym_env import MinitaurBallGymEnv -#from pybullet_envs.minitaur.envs.minitaur_randomize_terrain_gym_env import MinitaurRandomizeTerrainGymEnv -from pybullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv -from pybullet_envs.minitaur.envs.minitaur_stand_gym_env import MinitaurStandGymEnv -from pybullet_envs.minitaur.envs.minitaur_trotting_env import MinitaurTrottingEnv -from pybullet_envs.minitaur.envs.minitaur_four_leg_stand_env import MinitaurFourLegStandEnv -from pybullet_envs.minitaur.envs.minitaur_extended_env import MinitaurExtendedEnv, MinitaurReactiveEnv diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/simple_scene.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/simple_scene.py deleted file mode 100644 index 0099e9e961..0000000000 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/simple_scene.py +++ /dev/null @@ -1,35 +0,0 @@ -# Lint as: python3 -"""A scene containing only a planar floor.""" - -from typing import Sequence - -import gin -from pybullet_envs.minitaur.envs_v2 import base_client -from pybullet_envs.minitaur.envs_v2.scenes import scene_base - -_PLANE_URDF = ( - "plane.urdf") - - -@gin.configurable -class SimpleScene(scene_base.SceneBase): - """A scene containing only a planar floor.""" - - def build_scene(self, pybullet_client): - super().build_scene(pybullet_client) - - visual_shape_id = self._pybullet_client.createVisualShape( - shapeType=self._pybullet_client.GEOM_PLANE) - collision_shape_id = self._pybullet_client.createCollisionShape( - shapeType=self._pybullet_client.GEOM_PLANE) - ground_id = self._pybullet_client.createMultiBody( - baseMass=0, - baseCollisionShapeIndex=collision_shape_id, - baseVisualShapeIndex=visual_shape_id) - self._pybullet_client.changeDynamics(ground_id, -1, lateralFriction=1.0) - self.add_object(ground_id, scene_base.ObjectType.GROUND) - - @property - def vectorized_map(self) -> Sequence[scene_base.Polygon]: - """Returns vectorized map containing a list of polygon obstacles.""" - return [] diff --git a/examples/pybullet/gym/pybullet_envs/prediction/__init__.py b/examples/pybullet/gym/pybullet_envs/prediction/__init__.py deleted file mode 100644 index a575195ec7..0000000000 --- a/examples/pybullet/gym/pybullet_envs/prediction/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ -from . import boxstack_pybullet_sim -from . import pybullet_sim_gym_env diff --git a/examples/pybullet/gym/pybullet_utils/examples/multipleScenes.py b/examples/pybullet/gym/pybullet_utils/examples/multipleScenes.py deleted file mode 100644 index cbf1adec42..0000000000 --- a/examples/pybullet/gym/pybullet_utils/examples/multipleScenes.py +++ /dev/null @@ -1,19 +0,0 @@ -from pybullet_utils import bullet_client as bc -import pybullet -import pybullet_data - -p0 = bc.BulletClient(connection_mode=pybullet.DIRECT) -p0.setAdditionalSearchPath(pybullet_data.getDataPath()) - -p1 = bc.BulletClient(connection_mode=pybullet.DIRECT) -p1.setAdditionalSearchPath(pybullet_data.getDataPath()) - -#can also connect using different modes, GUI, SHARED_MEMORY, TCP, UDP, SHARED_MEMORY_SERVER, GUI_SERVER -#pgui = bc.BulletClient(connection_mode=pybullet.GUI) - -p0.loadURDF("r2d2.urdf") -p1.loadSDF("stadium.sdf") -print(p0._client) -print(p1._client) -print("p0.getNumBodies()=", p0.getNumBodies()) -print("p1.getNumBodies()=", p1.getNumBodies()) diff --git a/examples/pybullet/unity3d/readme.txt b/examples/pybullet/unity3d/readme.txt deleted file mode 100644 index 43497b8165..0000000000 --- a/examples/pybullet/unity3d/readme.txt +++ /dev/null @@ -1,33 +0,0 @@ -Quick prototype to connect Unity 3D to pybullet - -Generate C# Native Methods using the Microsoft PInvoke Signature Toolkit: - -sigimp.exe /lang:cs e:\develop\bullet3\examples\SharedMemory\PhysicsClientC_API.h - -Add some #define B3_SHARED_API __declspec(dllexport) to the exported methods, -replace [3], [4], [16] by [] to get sigimp.exe working. - -This generates autogen/NativeMethods.cs - -Then put pybullet.dll in the right location, so Unity finds it. - -NewBehaviourScript.cs is a 1 evening prototype that works within Unity 3D: -Create a connection to pybullet, reset the world, load a urdf at startup. -Step the simulation each Update. - -Now the real work can start, converting Unity objects to pybullet, -pybullet robots to Unity, synchronizing the transforms each Update. - -void Start () { - IntPtr pybullet = b3ConnectSharedMemory(12347); - IntPtr cmd = b3InitResetSimulationCommand(pybullet); - IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd); - cmd = b3LoadUrdfCommandInit(pybullet, "plane.urdf"); - status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd); -} - -void Update () -{ - IntPtr cmd = b3InitStepSimulationCommand(pybullet); - IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd); -} diff --git a/examples/pybullet/CMakeLists.txt b/examples/pycram_bullet/CMakeLists.txt similarity index 56% rename from examples/pybullet/CMakeLists.txt rename to examples/pycram_bullet/CMakeLists.txt index 5ee71645eb..c2c88e5bdd 100644 --- a/examples/pybullet/CMakeLists.txt +++ b/examples/pycram_bullet/CMakeLists.txt @@ -24,8 +24,8 @@ INCLUDE_DIRECTORIES( ) ENDIF(ENABLE_VHACD) -SET(pybullet_SRCS - pybullet.c +SET(pycram_bullet_SRCS + pycram_bullet.c ) IF(BUILD_CLSOCKET) @@ -55,36 +55,36 @@ ENDIF(WIN32) -ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS}) +ADD_LIBRARY(pycram_bullet SHARED ${pycram_bullet_SRCS}) -SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "") -SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "") +SET_TARGET_PROPERTIES(pycram_bullet PROPERTIES PREFIX "") +SET_TARGET_PROPERTIES(pycram_bullet PROPERTIES POSTFIX "") -SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION}) -SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION}) -SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d") +SET_TARGET_PROPERTIES(pycram_bullet PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(pycram_bullet PROPERTIES SOVERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(pycram_bullet PROPERTIES DEBUG_POSTFIX "_d") IF(WIN32) IF(BUILD_ENET OR BUILD_CLSOCKET) - TARGET_LINK_LIBRARIES(pybullet ws2_32 ) + TARGET_LINK_LIBRARIES(pycram_bullet ws2_32 ) ENDIF() - SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" ) + SET_TARGET_PROPERTIES(pycram_bullet PROPERTIES SUFFIX ".pyd" ) ENDIF(WIN32) IF (APPLE) - SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so" ) + SET_TARGET_PROPERTIES(pycram_bullet PROPERTIES SUFFIX ".so" ) ENDIF() -TARGET_LINK_LIBRARIES(pybullet BulletRoboticsGUI BulletExampleBrowserLib BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common) +TARGET_LINK_LIBRARIES(pycram_bullet BulletRoboticsGUI BulletExampleBrowserLib BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common) IF (WIN32) - TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES}) + TARGET_LINK_LIBRARIES(pycram_bullet ${PYTHON_LIBRARIES}) ELSEIF (APPLE) - SET_TARGET_PROPERTIES(pybullet PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") + SET_TARGET_PROPERTIES(pycram_bullet PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ENDIF () # else Linux: dont link @@ -94,5 +94,5 @@ ELSE() SET(PYTHON_SITE_PACKAGES lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages CACHE PATH "Python install path") ENDIF() -INSTALL(TARGETS pybullet DESTINATION ${PYTHON_SITE_PACKAGES}) +INSTALL(TARGETS pycram_bullet DESTINATION ${PYTHON_SITE_PACKAGES}) diff --git a/examples/pybullet/examples/__init__.py b/examples/pycram_bullet/examples/__init__.py similarity index 100% rename from examples/pybullet/examples/__init__.py rename to examples/pycram_bullet/examples/__init__.py diff --git a/examples/pybullet/examples/addPlanarReflection.py b/examples/pycram_bullet/examples/addPlanarReflection.py similarity index 97% rename from examples/pybullet/examples/addPlanarReflection.py rename to examples/pycram_bullet/examples/addPlanarReflection.py index 6cf0b4b812..66c5682cf6 100644 --- a/examples/pybullet/examples/addPlanarReflection.py +++ b/examples/pycram_bullet/examples/addPlanarReflection.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data @@ -38,7 +38,7 @@ def getRayFromTo(mouseX, mouseY): cid = p.connect(p.GUI) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=10) p.setTimeStep(1. / 120.) logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json") diff --git a/examples/pybullet/examples/batchRayCast.py b/examples/pycram_bullet/examples/batchRayCast.py similarity index 93% rename from examples/pybullet/examples/batchRayCast.py rename to examples/pycram_bullet/examples/batchRayCast.py index b2de78f374..3c3daa8af4 100644 --- a/examples/pybullet/examples/batchRayCast.py +++ b/examples/pycram_bullet/examples/batchRayCast.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data useGui = True @@ -9,7 +9,7 @@ p.connect(p.GUI) else: p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0) #p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) diff --git a/examples/pybullet/examples/biped2d_pybullet.py b/examples/pycram_bullet/examples/biped2d_pycram_bullet.py similarity index 94% rename from examples/pybullet/examples/biped2d_pybullet.py rename to examples/pycram_bullet/examples/biped2d_pycram_bullet.py index ad76f2178e..c89410e609 100644 --- a/examples/pybullet/examples/biped2d_pybullet.py +++ b/examples/pycram_bullet/examples/biped2d_pycram_bullet.py @@ -1,10 +1,10 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data import os import time -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import math import time @@ -115,12 +115,12 @@ GRAVITY = -9.8 dt = 1e-3 iters = 2000 -import pybullet_data +import pycram_bullet_data #physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #p.resetSimulation() #p.setRealTimeSimulation(True) p.setGravity(0, 0, GRAVITY) @@ -128,7 +128,7 @@ #planeId = p.loadURDF("plane.urdf") cubeStartPos = [0, 0, 1.13] cubeStartOrientation = p.getQuaternionFromEuler([0., 0, 0]) -botId = p.loadURDF("biped/biped2d_pybullet.urdf", cubeStartPos, cubeStartOrientation) +botId = p.loadURDF("biped/biped2d_pycram_bullet.urdf", cubeStartPos, cubeStartOrientation) #disable the default velocity motors #and set some position control with small force to emulate joint friction/return to a rest pose diff --git a/examples/pybullet/examples/changeDynamicsMass.py b/examples/pycram_bullet/examples/changeDynamicsMass.py similarity index 76% rename from examples/pybullet/examples/changeDynamicsMass.py rename to examples/pycram_bullet/examples/changeDynamicsMass.py index 715085ce17..f651cb9faf 100644 --- a/examples/pybullet/examples/changeDynamicsMass.py +++ b/examples/pycram_bullet/examples/changeDynamicsMass.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) cube2 = p.loadURDF("cube.urdf", [0, 0, 3], useFixedBase=True) cube = p.loadURDF("cube.urdf", useFixedBase=True) p.setGravity(0, 0, -10) diff --git a/examples/pybullet/examples/changeTexture.py b/examples/pycram_bullet/examples/changeTexture.py similarity index 91% rename from examples/pybullet/examples/changeTexture.py rename to examples/pycram_bullet/examples/changeTexture.py index 9f1f5cf010..7b1a5d564e 100644 --- a/examples/pybullet/examples/changeTexture.py +++ b/examples/pycram_bullet/examples/changeTexture.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) planeUidA = p.loadURDF("plane_transparent.urdf", [0, 0, 0]) planeUid = p.loadURDF("plane_transparent.urdf", [0, 0, -1]) diff --git a/examples/pybullet/examples/collisionFilter.py b/examples/pycram_bullet/examples/collisionFilter.py similarity index 82% rename from examples/pybullet/examples/collisionFilter.py rename to examples/pycram_bullet/examples/collisionFilter.py index 13abacee98..a349a320c8 100644 --- a/examples/pybullet/examples/collisionFilter.py +++ b/examples/pycram_bullet/examples/collisionFilter.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) planeId = p.loadURDF("plane.urdf", useMaximalCoordinates=False) cubeId = p.loadURDF("cube_collisionfilter.urdf", [0, 0, 3], useMaximalCoordinates=False) diff --git a/examples/pybullet/examples/commandLogAndPlayback.py b/examples/pycram_bullet/examples/commandLogAndPlayback.py similarity index 75% rename from examples/pybullet/examples/commandLogAndPlayback.py rename to examples/pycram_bullet/examples/commandLogAndPlayback.py index 3ff8344123..7f60ac3996 100644 --- a/examples/pybullet/examples/commandLogAndPlayback.py +++ b/examples/pycram_bullet/examples/commandLogAndPlayback.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) logId = p.startStateLogging(p.STATE_LOGGING_ALL_COMMANDS, "commandLog.bin") p.loadURDF("plane.urdf") p.loadURDF("r2d2.urdf", [0, 0, 1]) diff --git a/examples/pybullet/examples/configureDebugVisualizer.py b/examples/pycram_bullet/examples/configureDebugVisualizer.py similarity index 78% rename from examples/pybullet/examples/configureDebugVisualizer.py rename to examples/pycram_bullet/examples/configureDebugVisualizer.py index 9884547151..3bac245c46 100644 --- a/examples/pybullet/examples/configureDebugVisualizer.py +++ b/examples/pycram_bullet/examples/configureDebugVisualizer.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import math import time dt = 1./240. -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("r2d2.urdf",[0,0,1]) p.loadURDF("plane.urdf") p.setGravity(0,0,-10) diff --git a/examples/pybullet/gym/pybullet_examples/constraint.py b/examples/pycram_bullet/examples/constraint.py similarity index 84% rename from examples/pybullet/gym/pybullet_examples/constraint.py rename to examples/pycram_bullet/examples/constraint.py index 60b883a5cb..1009e02396 100644 --- a/examples/pybullet/gym/pybullet_examples/constraint.py +++ b/examples/pycram_bullet/examples/constraint.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") cubeId = p.loadURDF("cube_small.urdf", 0, 0, 1) diff --git a/examples/pybullet/examples/contactFriction.py b/examples/pycram_bullet/examples/contactFriction.py similarity index 90% rename from examples/pybullet/examples/contactFriction.py rename to examples/pycram_bullet/examples/contactFriction.py index 0b113d11e3..77175c0e30 100644 --- a/examples/pybullet/examples/contactFriction.py +++ b/examples/pycram_bullet/examples/contactFriction.py @@ -1,8 +1,8 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) useMaximalCoordinates = False p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates) #p.loadURDF("sphere2.urdf",[0,0,1]) diff --git a/examples/pybullet/examples/createMesh.py b/examples/pycram_bullet/examples/createMesh.py similarity index 97% rename from examples/pybullet/examples/createMesh.py rename to examples/pycram_bullet/examples/createMesh.py index ce7fc80d27..a39706de60 100644 --- a/examples/pybullet/examples/createMesh.py +++ b/examples/pycram_bullet/examples/createMesh.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #don't create a ground plane, to allow for gaps etc p.resetSimulation() #p.createCollisionShape(p.GEOM_PLANE) diff --git a/examples/pybullet/gym/pybullet_examples/createMultiBodyBatch.py b/examples/pycram_bullet/examples/createMultiBodyBatch.py similarity index 97% rename from examples/pybullet/gym/pybullet_examples/createMultiBodyBatch.py rename to examples/pycram_bullet/examples/createMultiBodyBatch.py index 87fde9c840..2f79bc180c 100644 --- a/examples/pybullet/gym/pybullet_examples/createMultiBodyBatch.py +++ b/examples/pycram_bullet/examples/createMultiBodyBatch.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=16000") -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=4, minimumSolverIslandSize=1024) p.setTimeStep(1. / 120.) diff --git a/examples/pybullet/examples/createMultiBodyLinks.py b/examples/pycram_bullet/examples/createMultiBodyLinks.py similarity index 95% rename from examples/pybullet/examples/createMultiBodyLinks.py rename to examples/pycram_bullet/examples/createMultiBodyLinks.py index cbaa6abc6c..70169007f5 100644 --- a/examples/pybullet/examples/createMultiBodyLinks.py +++ b/examples/pycram_bullet/examples/createMultiBodyLinks.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.createCollisionShape(p.GEOM_PLANE) p.createMultiBody(0, 0) diff --git a/examples/pybullet/examples/createObstacleCourse.py b/examples/pycram_bullet/examples/createObstacleCourse.py similarity index 97% rename from examples/pybullet/examples/createObstacleCourse.py rename to examples/pycram_bullet/examples/createObstacleCourse.py index a9ab11908a..468afeeac3 100644 --- a/examples/pybullet/examples/createObstacleCourse.py +++ b/examples/pycram_bullet/examples/createObstacleCourse.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #don't create a ground plane, to allow for gaps etc p.resetSimulation() #p.createCollisionShape(p.GEOM_PLANE) diff --git a/examples/pybullet/examples/createSphereMultiBodies.py b/examples/pycram_bullet/examples/createSphereMultiBodies.py similarity index 93% rename from examples/pybullet/examples/createSphereMultiBodies.py rename to examples/pycram_bullet/examples/createSphereMultiBodies.py index 67f562d70c..22eb280bad 100644 --- a/examples/pybullet/examples/createSphereMultiBodies.py +++ b/examples/pycram_bullet/examples/createSphereMultiBodies.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time useMaximalCoordinates = 0 -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates) monastryId = concaveEnv = p.createCollisionShape(p.GEOM_MESH, fileName="samurai_monastry.obj", diff --git a/examples/pybullet/examples/createTexturedMeshVisualShape.py b/examples/pycram_bullet/examples/createTexturedMeshVisualShape.py similarity index 98% rename from examples/pybullet/examples/createTexturedMeshVisualShape.py rename to examples/pycram_bullet/examples/createTexturedMeshVisualShape.py index 00e2b62521..7c317d1409 100644 --- a/examples/pybullet/examples/createTexturedMeshVisualShape.py +++ b/examples/pycram_bullet/examples/createTexturedMeshVisualShape.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data def getRayFromTo(mouseX, mouseY): @@ -36,7 +36,7 @@ def getRayFromTo(mouseX, mouseY): cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=10) p.setTimeStep(1. / 120.) logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json") diff --git a/examples/pybullet/examples/createVisualShape.py b/examples/pycram_bullet/examples/createVisualShape.py similarity index 95% rename from examples/pybullet/examples/createVisualShape.py rename to examples/pycram_bullet/examples/createVisualShape.py index 395cbe4ed1..2793e041a0 100644 --- a/examples/pybullet/examples/createVisualShape.py +++ b/examples/pycram_bullet/examples/createVisualShape.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data @@ -9,7 +9,7 @@ if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=10) p.setTimeStep(1. / 120.) logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json") diff --git a/examples/pybullet/examples/createVisualShapeArray.py b/examples/pycram_bullet/examples/createVisualShapeArray.py similarity index 97% rename from examples/pybullet/examples/createVisualShapeArray.py rename to examples/pycram_bullet/examples/createVisualShapeArray.py index 6156d808c8..708e2e5d18 100644 --- a/examples/pybullet/examples/createVisualShapeArray.py +++ b/examples/pycram_bullet/examples/createVisualShapeArray.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data def getRayFromTo(mouseX, mouseY): @@ -37,7 +37,7 @@ def getRayFromTo(mouseX, mouseY): if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=10) p.setTimeStep(1. / 120.) logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json") diff --git a/examples/pybullet/examples/data/block_grasp_log.bin b/examples/pycram_bullet/examples/data/block_grasp_log.bin similarity index 100% rename from examples/pybullet/examples/data/block_grasp_log.bin rename to examples/pycram_bullet/examples/data/block_grasp_log.bin diff --git a/examples/pybullet/examples/debugDrawItems.py b/examples/pycram_bullet/examples/debugDrawItems.py similarity index 87% rename from examples/pybullet/examples/debugDrawItems.py rename to examples/pycram_bullet/examples/debugDrawItems.py index 3b21374459..5b02593939 100644 --- a/examples/pybullet/examples/debugDrawItems.py +++ b/examples/pycram_bullet/examples/debugDrawItems.py @@ -1,12 +1,12 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") kuka = p.loadURDF("kuka_iiwa/model.urdf") p.addUserDebugText("tip", [0, 0, 0.1], diff --git a/examples/pybullet/examples/deformable_add_remove_objects.py b/examples/pycram_bullet/examples/deformable_add_remove_objects.py similarity index 91% rename from examples/pybullet/examples/deformable_add_remove_objects.py rename to examples/pycram_bullet/examples/deformable_add_remove_objects.py index c59d932266..42ab7f3fda 100644 --- a/examples/pybullet/examples/deformable_add_remove_objects.py +++ b/examples/pycram_bullet/examples/deformable_add_remove_objects.py @@ -1,8 +1,8 @@ -import pybullet as p +import pycram_bullet as p physicsClient = p.connect(p.GUI) -import pybullet_data +import pycram_bullet_data -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) gravZ=-10 diff --git a/examples/pybullet/examples/deformable_anchor.py b/examples/pycram_bullet/examples/deformable_anchor.py similarity index 93% rename from examples/pybullet/examples/deformable_anchor.py rename to examples/pycram_bullet/examples/deformable_anchor.py index bf37cdb61d..8e148d4dbc 100644 --- a/examples/pybullet/examples/deformable_anchor.py +++ b/examples/pycram_bullet/examples/deformable_anchor.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p from time import sleep physicsClient = p.connect(p.GUI) -import pybullet_data +import pycram_bullet_data -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) gravZ=-10 diff --git a/examples/pybullet/examples/deformable_ball.py b/examples/pycram_bullet/examples/deformable_ball.py similarity index 91% rename from examples/pybullet/examples/deformable_ball.py rename to examples/pycram_bullet/examples/deformable_ball.py index 2a2d863a7f..f7c9c3a1a2 100644 --- a/examples/pybullet/examples/deformable_ball.py +++ b/examples/pycram_bullet/examples/deformable_ball.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p from time import sleep -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pycram_bullet/examples/deformable_torus.py similarity index 90% rename from examples/pybullet/examples/deformable_torus.py rename to examples/pycram_bullet/examples/deformable_torus.py index 39e0839fa4..48c99ee453 100644 --- a/examples/pybullet/examples/deformable_torus.py +++ b/examples/pycram_bullet/examples/deformable_torus.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p from time import sleep -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) p.resetDebugVisualizerCamera(3,-420,-30,[0.3,0.9,-2]) diff --git a/examples/pybullet/examples/draw_frames.py b/examples/pycram_bullet/examples/draw_frames.py similarity index 99% rename from examples/pybullet/examples/draw_frames.py rename to examples/pycram_bullet/examples/draw_frames.py index 0e24192ba8..652e28e30e 100644 --- a/examples/pybullet/examples/draw_frames.py +++ b/examples/pycram_bullet/examples/draw_frames.py @@ -1,7 +1,7 @@ import colorsys from enum import Enum import numpy as np -import pybullet as p +import pycram_bullet as p import time import typing diff --git a/examples/pybullet/examples/dumpLog.py b/examples/pycram_bullet/examples/dumpLog.py similarity index 100% rename from examples/pybullet/examples/dumpLog.py rename to examples/pycram_bullet/examples/dumpLog.py diff --git a/examples/pybullet/examples/dumpVrLog.py b/examples/pycram_bullet/examples/dumpVrLog.py similarity index 100% rename from examples/pybullet/examples/dumpVrLog.py rename to examples/pycram_bullet/examples/dumpVrLog.py diff --git a/examples/pybullet/examples/eglRenderTest.py b/examples/pycram_bullet/examples/eglRenderTest.py similarity index 93% rename from examples/pybullet/examples/eglRenderTest.py rename to examples/pycram_bullet/examples/eglRenderTest.py index 916467c2d0..1ddf15a25b 100644 --- a/examples/pybullet/examples/eglRenderTest.py +++ b/examples/pycram_bullet/examples/eglRenderTest.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time import pkgutil egl = pkgutil.get_loader('eglRenderer') -import pybullet_data +import pycram_bullet_data p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) plugin = p.loadPlugin(egl.get_filename(), "_eglRendererPlugin") print("plugin=", plugin) diff --git a/examples/pybullet/gym/pybullet_examples/experimentalCcdSphereRadius.py b/examples/pycram_bullet/examples/experimentalCcdSphereRadius.py similarity index 94% rename from examples/pybullet/gym/pybullet_examples/experimentalCcdSphereRadius.py rename to examples/pycram_bullet/examples/experimentalCcdSphereRadius.py index ca7dd664ad..497c443426 100644 --- a/examples/pybullet/gym/pybullet_examples/experimentalCcdSphereRadius.py +++ b/examples/pycram_bullet/examples/experimentalCcdSphereRadius.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(allowedCcdPenetration=0.0) terrain_mass = 0 diff --git a/examples/pybullet/examples/externalTorqueControlledSphere.py b/examples/pycram_bullet/examples/externalTorqueControlledSphere.py similarity index 93% rename from examples/pybullet/examples/externalTorqueControlledSphere.py rename to examples/pycram_bullet/examples/externalTorqueControlledSphere.py index 45b2cfe70e..9c92e81e2b 100644 --- a/examples/pybullet/examples/externalTorqueControlledSphere.py +++ b/examples/pycram_bullet/examples/externalTorqueControlledSphere.py @@ -1,9 +1,9 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data import time p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadSDF("stadium.sdf") p.setGravity(0, 0, -10) objects = p.loadMJCF("mjcf/sphere.xml") diff --git a/examples/pybullet/examples/fileIOPlugin.py b/examples/pycram_bullet/examples/fileIOPlugin.py similarity index 83% rename from examples/pybullet/examples/fileIOPlugin.py rename to examples/pycram_bullet/examples/fileIOPlugin.py index 9b3c2b5461..5d94a44973 100644 --- a/examples/pybullet/examples/fileIOPlugin.py +++ b/examples/pycram_bullet/examples/fileIOPlugin.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) fileIO = p.loadPlugin("fileIOPlugin") if (fileIO >= 0): #we can have a zipfile (pickup.zip) inside a zipfile (pickup2.zip) diff --git a/examples/pybullet/examples/forcetorquesensor.py b/examples/pycram_bullet/examples/forcetorquesensor.py similarity index 86% rename from examples/pybullet/examples/forcetorquesensor.py rename to examples/pycram_bullet/examples/forcetorquesensor.py index 5b7e3987e0..b4f12308c7 100644 --- a/examples/pybullet/examples/forcetorquesensor.py +++ b/examples/pycram_bullet/examples/forcetorquesensor.py @@ -1,8 +1,8 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) hinge = p.loadURDF("hinge.urdf") print("mass of linkA = 1kg, linkB = 1kg, total mass = 2kg") diff --git a/examples/pybullet/examples/frictionCone.py b/examples/pycram_bullet/examples/frictionCone.py similarity index 92% rename from examples/pybullet/examples/frictionCone.py rename to examples/pycram_bullet/examples/frictionCone.py index b5d60ecfb1..49d8917877 100644 --- a/examples/pybullet/examples/frictionCone.py +++ b/examples/pycram_bullet/examples/frictionCone.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) useMaximalCoordinates = False p.setGravity(0, 0, -10) diff --git a/examples/pybullet/examples/getAABB.py b/examples/pycram_bullet/examples/getAABB.py similarity index 94% rename from examples/pybullet/examples/getAABB.py rename to examples/pycram_bullet/examples/getAABB.py index a94e581f00..85cff1d18c 100644 --- a/examples/pybullet/examples/getAABB.py +++ b/examples/pycram_bullet/examples/getAABB.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data draw = 1 printtext = 0 @@ -8,7 +8,7 @@ else: p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) r2d2 = p.loadURDF("r2d2.urdf") diff --git a/examples/pybullet/examples/getCameraImageTest.py b/examples/pycram_bullet/examples/getCameraImageTest.py similarity index 97% rename from examples/pybullet/examples/getCameraImageTest.py rename to examples/pycram_bullet/examples/getCameraImageTest.py index 7b894e3b03..d1678ca562 100644 --- a/examples/pybullet/examples/getCameraImageTest.py +++ b/examples/pycram_bullet/examples/getCameraImageTest.py @@ -1,13 +1,13 @@ import matplotlib.pyplot as plt import numpy as np -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data direct = p.connect(p.GUI) #, options="--window_backend=2 --render_device=0") #egl = p.loadPlugin("eglRendererPlugin") -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF('plane.urdf') p.loadURDF("r2d2.urdf", [0, 0, 1]) p.loadURDF('cube_small.urdf', basePosition=[0.0, 0.0, 0.025]) diff --git a/examples/pybullet/gym/pybullet_examples/getClosestPoints.py b/examples/pycram_bullet/examples/getClosestPoints.py similarity index 95% rename from examples/pybullet/gym/pybullet_examples/getClosestPoints.py rename to examples/pycram_bullet/examples/getClosestPoints.py index 55311f58d0..b0860d9cd2 100644 --- a/examples/pybullet/gym/pybullet_examples/getClosestPoints.py +++ b/examples/pycram_bullet/examples/getClosestPoints.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) useCollisionShapeQuery = True p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0) geom = p.createCollisionShape(p.GEOM_SPHERE, radius=0.1) diff --git a/examples/pybullet/gym/pybullet_examples/getTextureUid.py b/examples/pycram_bullet/examples/getTextureUid.py similarity index 80% rename from examples/pybullet/gym/pybullet_examples/getTextureUid.py rename to examples/pycram_bullet/examples/getTextureUid.py index f4a31b2f07..c461b39a99 100644 --- a/examples/pybullet/gym/pybullet_examples/getTextureUid.py +++ b/examples/pycram_bullet/examples/getTextureUid.py @@ -1,8 +1,8 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) plane = p.loadURDF("plane.urdf") visualData = p.getVisualShapeData(plane, p.VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS) print(visualData) diff --git a/examples/pybullet/examples/graphicsClient.py b/examples/pycram_bullet/examples/graphicsClient.py similarity index 82% rename from examples/pybullet/examples/graphicsClient.py rename to examples/pycram_bullet/examples/graphicsClient.py index 3da2451908..013eb68266 100644 --- a/examples/pybullet/examples/graphicsClient.py +++ b/examples/pycram_bullet/examples/graphicsClient.py @@ -1,8 +1,8 @@ -import pybullet as p +import pycram_bullet as p import time p.connect(p.GRAPHICS_SERVER_TCP) -import pybullet_data as pd +import pycram_bullet_data as pd p.setAdditionalSearchPath(pd.getDataPath()) p.loadURDF("plane.urdf") diff --git a/examples/pybullet/examples/graphicsServer.py b/examples/pycram_bullet/examples/graphicsServer.py similarity index 85% rename from examples/pybullet/examples/graphicsServer.py rename to examples/pycram_bullet/examples/graphicsServer.py index 4342b394ed..21cbdb6957 100644 --- a/examples/pybullet/examples/graphicsServer.py +++ b/examples/pycram_bullet/examples/graphicsServer.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p import time p.connect(p.GRAPHICS_SERVER) diff --git a/examples/pybullet/examples/grpcClient.py b/examples/pycram_bullet/examples/grpcClient.py similarity index 73% rename from examples/pybullet/examples/grpcClient.py rename to examples/pycram_bullet/examples/grpcClient.py index 98b2ba8537..d9c2f19b89 100644 --- a/examples/pybullet/examples/grpcClient.py +++ b/examples/pycram_bullet/examples/grpcClient.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data usePort = True @@ -16,6 +16,6 @@ print("Connected to GRPC") -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) r2d2 = p.loadURDF("r2d2.urdf") print("numJoints = ", p.getNumJoints(r2d2)) diff --git a/examples/pybullet/examples/grpcServer.py b/examples/pycram_bullet/examples/grpcServer.py similarity index 72% rename from examples/pybullet/examples/grpcServer.py rename to examples/pycram_bullet/examples/grpcServer.py index 24385706e4..3cc1c5c3e2 100644 --- a/examples/pybullet/examples/grpcServer.py +++ b/examples/pycram_bullet/examples/grpcServer.py @@ -1,16 +1,16 @@ -import pybullet as p +import pycram_bullet as p import time useDirect = False usePort = True -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) id = p.loadPlugin("grpcPlugin") #dynamically loading the plugin -#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin") +#id = p.loadPlugin("E:/develop/bullet3/bin/pycram_bullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin") #start the GRPC server at hostname, port if (id < 0): diff --git a/examples/pybullet/examples/hand.ino b/examples/pycram_bullet/examples/hand.ino similarity index 95% rename from examples/pybullet/examples/hand.ino rename to examples/pycram_bullet/examples/hand.ino index 1e5f5df175..7cf83bfbda 100644 --- a/examples/pybullet/examples/hand.ino +++ b/examples/pycram_bullet/examples/hand.ino @@ -1,5 +1,5 @@ //arduino script for vr glove, sending analogue 'finger' readings -//to be used with pybullet and hand.py +//to be used with pycram_bullet and hand.py int sensorPin0 = A0; diff --git a/examples/pybullet/examples/hand.py b/examples/pycram_bullet/examples/hand.py similarity index 97% rename from examples/pybullet/examples/hand.py rename to examples/pycram_bullet/examples/hand.py index 165a9c193a..47348481f7 100644 --- a/examples/pybullet/examples/hand.py +++ b/examples/pycram_bullet/examples/hand.py @@ -7,8 +7,8 @@ import serial import time -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data #first try to connect to shared memory (VR), if it fails use local GUI @@ -17,7 +17,7 @@ if (c < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #load the MuJoCo MJCF hand objects = p.loadMJCF("MPL/MPL.xml") diff --git a/examples/pybullet/gym/pybullet_examples/heightfield.py b/examples/pycram_bullet/examples/heightfield.py similarity index 99% rename from examples/pybullet/gym/pybullet_examples/heightfield.py rename to examples/pycram_bullet/examples/heightfield.py index b01a5e0bb6..5b22d84147 100644 --- a/examples/pybullet/gym/pybullet_examples/heightfield.py +++ b/examples/pycram_bullet/examples/heightfield.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import math import time diff --git a/examples/pybullet/examples/hello_pybullet.py b/examples/pycram_bullet/examples/hello_pycram_bullet.py similarity index 83% rename from examples/pybullet/examples/hello_pybullet.py rename to examples/pycram_bullet/examples/hello_pycram_bullet.py index fdca83cce0..58fffd8b11 100644 --- a/examples/pybullet/examples/hello_pybullet.py +++ b/examples/pycram_bullet/examples/hello_pycram_bullet.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p from time import sleep -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, -10) planeId = p.loadURDF("plane.urdf") diff --git a/examples/pybullet/examples/humanoidMotionCapture.py b/examples/pycram_bullet/examples/humanoidMotionCapture.py similarity index 98% rename from examples/pybullet/examples/humanoidMotionCapture.py rename to examples/pycram_bullet/examples/humanoidMotionCapture.py index ac0afda48e..5b896316d6 100644 --- a/examples/pybullet/examples/humanoidMotionCapture.py +++ b/examples/pycram_bullet/examples/humanoidMotionCapture.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import json import time -import pybullet_data +import pycram_bullet_data useGUI = True @@ -9,7 +9,7 @@ p.connect(p.GUI) else: p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) useZUp = False useYUp = not useZUp @@ -29,13 +29,13 @@ cameraPitch=-14, cameraTargetPosition=[0.24, -0.02, -0.09]) -import pybullet_data +import pycram_bullet_data p.setTimeOut(10000) useMotionCapture = False useMotionCaptureReset = False #not useMotionCapture useExplicitPD = True -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=30) #p.setPhysicsEngineParameter(solverResidualThreshold=1e-30) @@ -45,9 +45,9 @@ p.setPhysicsEngineParameter(fixedTimeStep=timeStep) -path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt" -#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt" -#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt" +path = pycram_bullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt" +#path = pycram_bullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt" +#path = pycram_bullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt" #p.loadURDF("plane.urdf",[0,0,-1.03]) print("path = ", path) diff --git a/examples/pybullet/examples/humanoid_benchmark.py b/examples/pycram_bullet/examples/humanoid_benchmark.py similarity index 89% rename from examples/pybullet/examples/humanoid_benchmark.py rename to examples/pycram_bullet/examples/humanoid_benchmark.py index 6666f2c039..edcb9d57ca 100644 --- a/examples/pybullet/examples/humanoid_benchmark.py +++ b/examples/pycram_bullet/examples/humanoid_benchmark.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, -10) p.setPhysicsEngineParameter(numSolverIterations=5) p.setPhysicsEngineParameter(fixedTimeStep=1. / 240.) @@ -32,7 +32,7 @@ #now do a benchmark print("Starting benchmark") -fileName = "pybullet_humanoid_timings.json" +fileName = "pycram_bullet_humanoid_timings.json" logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, fileName) for i in range(1000): diff --git a/examples/pybullet/examples/humanoid_knee_position_control.py b/examples/pycram_bullet/examples/humanoid_knee_position_control.py similarity index 93% rename from examples/pybullet/examples/humanoid_knee_position_control.py rename to examples/pycram_bullet/examples/humanoid_knee_position_control.py index 17188c6d25..4e6cfd3420 100644 --- a/examples/pybullet/examples/humanoid_knee_position_control.py +++ b/examples/pycram_bullet/examples/humanoid_knee_position_control.py @@ -1,6 +1,6 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data @@ -14,7 +14,7 @@ p.setRealTimeSimulation(useRealTime) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, -10) diff --git a/examples/pybullet/examples/humanoid_manual_control.py b/examples/pycram_bullet/examples/humanoid_manual_control.py similarity index 89% rename from examples/pybullet/examples/humanoid_manual_control.py rename to examples/pycram_bullet/examples/humanoid_manual_control.py index 891cfab6af..ee66785fdd 100644 --- a/examples/pybullet/examples/humanoid_manual_control.py +++ b/examples/pycram_bullet/examples/humanoid_manual_control.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) obUids = p.loadMJCF("mjcf/humanoid.xml") humanoid = obUids[1] diff --git a/examples/pybullet/examples/ik_end_effector_orientation.py b/examples/pycram_bullet/examples/ik_end_effector_orientation.py similarity index 92% rename from examples/pybullet/examples/ik_end_effector_orientation.py rename to examples/pycram_bullet/examples/ik_end_effector_orientation.py index 2c9cf34034..cd7dcfc2c2 100644 --- a/examples/pybullet/examples/ik_end_effector_orientation.py +++ b/examples/pycram_bullet/examples/ik_end_effector_orientation.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime from time import sleep -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -0.3]) kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0]) p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1]) diff --git a/examples/pybullet/examples/integrate.py b/examples/pycram_bullet/examples/integrate.py similarity index 75% rename from examples/pybullet/examples/integrate.py rename to examples/pycram_bullet/examples/integrate.py index f711e09f98..12086558ce 100644 --- a/examples/pybullet/examples/integrate.py +++ b/examples/pycram_bullet/examples/integrate.py @@ -1,8 +1,8 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) cube = p.loadURDF("cube.urdf") frequency = 240 timeStep = 1. / frequency diff --git a/examples/pybullet/examples/internalEdge.py b/examples/pycram_bullet/examples/internalEdge.py similarity index 92% rename from examples/pybullet/examples/internalEdge.py rename to examples/pycram_bullet/examples/internalEdge.py index 7cd303b9fc..99073384a3 100644 --- a/examples/pybullet/examples/internalEdge.py +++ b/examples/pycram_bullet/examples/internalEdge.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) if (1): box_collision_shape_id = p.createCollisionShape(shapeType=p.GEOM_BOX, diff --git a/examples/pybullet/examples/inverse_dynamics.py b/examples/pycram_bullet/examples/inverse_dynamics.py similarity index 99% rename from examples/pybullet/examples/inverse_dynamics.py rename to examples/pycram_bullet/examples/inverse_dynamics.py index d565962c1f..7f2253a4fc 100644 --- a/examples/pybullet/examples/inverse_dynamics.py +++ b/examples/pycram_bullet/examples/inverse_dynamics.py @@ -1,4 +1,4 @@ -import pybullet as bullet +import pycram_bullet as bullet plot = True import time diff --git a/examples/pybullet/gym/pybullet_examples/inverse_kinematics.py b/examples/pycram_bullet/examples/inverse_kinematics.py similarity index 97% rename from examples/pybullet/gym/pybullet_examples/inverse_kinematics.py rename to examples/pycram_bullet/examples/inverse_kinematics.py index bf198ff32b..cad89b40eb 100644 --- a/examples/pybullet/gym/pybullet_examples/inverse_kinematics.py +++ b/examples/pycram_bullet/examples/inverse_kinematics.py @@ -1,15 +1,15 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime -import pybullet_data +import pycram_bullet_data clid = p.connect(p.SHARED_MEMORY) if (clid < 0): p.connect(p.GUI) #p.connect(p.SHARED_MEMORY_GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -0.3]) kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0]) diff --git a/examples/pybullet/examples/inverse_kinematics_husky_kuka.py b/examples/pycram_bullet/examples/inverse_kinematics_husky_kuka.py similarity index 98% rename from examples/pybullet/examples/inverse_kinematics_husky_kuka.py rename to examples/pycram_bullet/examples/inverse_kinematics_husky_kuka.py index bb0e26eaaf..e3ebeca8a5 100644 --- a/examples/pybullet/examples/inverse_kinematics_husky_kuka.py +++ b/examples/pycram_bullet/examples/inverse_kinematics_husky_kuka.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime from datetime import datetime -import pybullet_data +import pycram_bullet_data clid = p.connect(p.SHARED_MEMORY) @@ -13,7 +13,7 @@ p.setPhysicsEngineParameter(enableConeFriction=0) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -0.3]) diff --git a/examples/pybullet/examples/inverse_kinematics_pole.py b/examples/pycram_bullet/examples/inverse_kinematics_pole.py similarity index 94% rename from examples/pybullet/examples/inverse_kinematics_pole.py rename to examples/pycram_bullet/examples/inverse_kinematics_pole.py index 653581a0e5..21b8dacdab 100755 --- a/examples/pybullet/examples/inverse_kinematics_pole.py +++ b/examples/pycram_bullet/examples/inverse_kinematics_pole.py @@ -1,14 +1,14 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime -import pybullet_data +import pycram_bullet_data clid = p.connect(p.SHARED_MEMORY) if (clid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -1.3]) p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0) sawyerId = p.loadURDF("pole.urdf", [0, 0, 0]) diff --git a/examples/pybullet/examples/inverted_pendulum_tendon_actuation.py b/examples/pycram_bullet/examples/inverted_pendulum_tendon_actuation.py similarity index 99% rename from examples/pybullet/examples/inverted_pendulum_tendon_actuation.py rename to examples/pycram_bullet/examples/inverted_pendulum_tendon_actuation.py index d9b0759311..be0cfae763 100644 --- a/examples/pybullet/examples/inverted_pendulum_tendon_actuation.py +++ b/examples/pycram_bullet/examples/inverted_pendulum_tendon_actuation.py @@ -4,11 +4,11 @@ PID control of an inverted pendulum actuated by strings. """ -import pybullet as p +import pycram_bullet as p import time import math as m import numpy as np -import pybullet_data +import pycram_bullet_data import matplotlib.pyplot as plt diff --git a/examples/pybullet/gym/pybullet_examples/jacobian.py b/examples/pycram_bullet/examples/jacobian.py similarity index 97% rename from examples/pybullet/gym/pybullet_examples/jacobian.py rename to examples/pycram_bullet/examples/jacobian.py index 4a7e9725cb..8717554630 100644 --- a/examples/pybullet/gym/pybullet_examples/jacobian.py +++ b/examples/pycram_bullet/examples/jacobian.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data @@ -53,7 +53,7 @@ def multiplyJacobian(robot, jacobian, vector): if (clid < 0): p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) time_step = 0.001 gravity_constant = -9.81 diff --git a/examples/pybullet/examples/jointFrictionAndMotor.py b/examples/pycram_bullet/examples/jointFrictionAndMotor.py similarity index 87% rename from examples/pybullet/examples/jointFrictionAndMotor.py rename to examples/pycram_bullet/examples/jointFrictionAndMotor.py index 404adf63e3..0960f9174c 100644 --- a/examples/pybullet/examples/jointFrictionAndMotor.py +++ b/examples/pycram_bullet/examples/jointFrictionAndMotor.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) door = p.loadURDF("door.urdf") #linear/angular damping for base and all children=0 diff --git a/examples/pybullet/examples/jointFrictionDamping.py b/examples/pycram_bullet/examples/jointFrictionDamping.py similarity index 92% rename from examples/pybullet/examples/jointFrictionDamping.py rename to examples/pycram_bullet/examples/jointFrictionDamping.py index b1d7bfded5..3619ad4819 100644 --- a/examples/pybullet/examples/jointFrictionDamping.py +++ b/examples/pycram_bullet/examples/jointFrictionDamping.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -0.25]) minitaur = p.loadURDF("quadruped/minitaur_single_motor.urdf", useFixedBase=True) print(p.getNumJoints(minitaur)) diff --git a/examples/pybullet/examples/kuka_grasp_block_playback.py b/examples/pycram_bullet/examples/kuka_grasp_block_playback.py similarity index 94% rename from examples/pybullet/examples/kuka_grasp_block_playback.py rename to examples/pycram_bullet/examples/kuka_grasp_block_playback.py index 1aa3f755db..f132f7a243 100644 --- a/examples/pybullet/examples/kuka_grasp_block_playback.py +++ b/examples/pycram_bullet/examples/kuka_grasp_block_playback.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p import struct @@ -43,10 +43,10 @@ def readLogFile(filename, verbose=True): #clid = p.connect(p.SHARED_MEMORY) -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadSDF("kuka_iiwa/kuka_with_gripper.sdf") p.loadURDF("tray/tray.urdf", [0, 0, 0]) p.loadURDF("block.urdf", [0, 0, 2]) diff --git a/examples/pybullet/examples/kuka_with_cube.py b/examples/pycram_bullet/examples/kuka_with_cube.py similarity index 97% rename from examples/pybullet/examples/kuka_with_cube.py rename to examples/pycram_bullet/examples/kuka_with_cube.py index e06fd14871..a1d8f30e9f 100644 --- a/examples/pybullet/examples/kuka_with_cube.py +++ b/examples/pycram_bullet/examples/kuka_with_cube.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime #clid = p.connect(p.SHARED_MEMORY) -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -0.3], useFixedBase=True) kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0], useFixedBase=True) p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1]) diff --git a/examples/pybullet/examples/kuka_with_cube_playback.py b/examples/pycram_bullet/examples/kuka_with_cube_playback.py similarity index 94% rename from examples/pybullet/examples/kuka_with_cube_playback.py rename to examples/pycram_bullet/examples/kuka_with_cube_playback.py index 0345b05319..43026ae878 100644 --- a/examples/pybullet/examples/kuka_with_cube_playback.py +++ b/examples/pycram_bullet/examples/kuka_with_cube_playback.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime @@ -52,10 +52,10 @@ def readLogFile(filename, verbose=True): #clid = p.connect(p.SHARED_MEMORY) -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -0.3]) p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 1]) p.loadURDF("cube.urdf", [2, 2, 5]) diff --git a/examples/pybullet/examples/load_soft_body.py b/examples/pycram_bullet/examples/load_soft_body.py similarity index 87% rename from examples/pybullet/examples/load_soft_body.py rename to examples/pycram_bullet/examples/load_soft_body.py index 04cccfeccf..f6948d503b 100644 --- a/examples/pybullet/examples/load_soft_body.py +++ b/examples/pycram_bullet/examples/load_soft_body.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p from time import sleep -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, -10) planeId = p.loadURDF("plane.urdf", [0,0,-2]) boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) diff --git a/examples/pybullet/examples/loadingBench.py b/examples/pycram_bullet/examples/loadingBench.py similarity index 85% rename from examples/pybullet/examples/loadingBench.py rename to examples/pycram_bullet/examples/loadingBench.py index 672adbedc7..0d3eeb82db 100644 --- a/examples/pybullet/examples/loadingBench.py +++ b/examples/pycram_bullet/examples/loadingBench.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation() timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "loadingBenchVR.json") diff --git a/examples/pybullet/examples/logMinitaur.py b/examples/pycram_bullet/examples/logMinitaur.py similarity index 75% rename from examples/pybullet/examples/logMinitaur.py rename to examples/pycram_bullet/examples/logMinitaur.py index c8418b9ec3..27429747a9 100644 --- a/examples/pybullet/examples/logMinitaur.py +++ b/examples/pycram_bullet/examples/logMinitaur.py @@ -1,12 +1,12 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") quadruped = p.loadURDF("quadruped/quadruped.urdf") diff --git a/examples/pybullet/examples/manyspheres.py b/examples/pycram_bullet/examples/manyspheres.py similarity index 90% rename from examples/pybullet/examples/manyspheres.py rename to examples/pycram_bullet/examples/manyspheres.py index 4c6e5197ca..73baa31ade 100644 --- a/examples/pybullet/examples/manyspheres.py +++ b/examples/pycram_bullet/examples/manyspheres.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data conid = p.connect(p.SHARED_MEMORY) if (conid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setInternalSimFlags(0) p.resetSimulation() diff --git a/examples/pybullet/examples/mimicJointConstraint.py b/examples/pycram_bullet/examples/mimicJointConstraint.py similarity index 94% rename from examples/pybullet/examples/mimicJointConstraint.py rename to examples/pycram_bullet/examples/mimicJointConstraint.py index 45a10d918c..02c398ac60 100644 --- a/examples/pybullet/examples/mimicJointConstraint.py +++ b/examples/pycram_bullet/examples/mimicJointConstraint.py @@ -1,12 +1,12 @@ #a mimic joint can act as a gear between two joints #you can control the gear ratio in magnitude and sign (>0 reverses direction) -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetDebugVisualizerCamera(cameraDistance=1.1, cameraYaw = 3.6,cameraPitch=-27, cameraTargetPosition=[0.19,1.21,-0.44]) p.loadURDF("plane.urdf", 0, 0, -2) diff --git a/examples/pybullet/examples/minitaur.py b/examples/pycram_bullet/examples/minitaur.py similarity index 99% rename from examples/pybullet/examples/minitaur.py rename to examples/pycram_bullet/examples/minitaur.py index 664c8ea6b7..4f4b3cb859 100644 --- a/examples/pybullet/examples/minitaur.py +++ b/examples/pycram_bullet/examples/minitaur.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p import numpy as np diff --git a/examples/pybullet/examples/minitaur_evaluate.py b/examples/pycram_bullet/examples/minitaur_evaluate.py similarity index 99% rename from examples/pybullet/examples/minitaur_evaluate.py rename to examples/pycram_bullet/examples/minitaur_evaluate.py index 941320e87d..ec20713242 100644 --- a/examples/pybullet/examples/minitaur_evaluate.py +++ b/examples/pycram_bullet/examples/minitaur_evaluate.py @@ -1,5 +1,5 @@ from minitaur import Minitaur -import pybullet as p +import pycram_bullet as p import numpy as np import time import sys diff --git a/examples/pybullet/examples/minitaur_test.py b/examples/pycram_bullet/examples/minitaur_test.py similarity index 88% rename from examples/pybullet/examples/minitaur_test.py rename to examples/pycram_bullet/examples/minitaur_test.py index 6658e204b8..144eb8536c 100644 --- a/examples/pybullet/examples/minitaur_test.py +++ b/examples/pycram_bullet/examples/minitaur_test.py @@ -2,14 +2,14 @@ #some python interpreters need '.' added sys.path.append(".") -import pybullet as p +import pycram_bullet as p from minitaur import Minitaur from minitaur_evaluate import * import time import math import numpy as np -import pybullet_data +import pycram_bullet_data @@ -19,7 +19,7 @@ def main(unused_args): c = p.connect(p.SHARED_MEMORY) if (c < 0): c = p.connect(p.GUI) - p.setAdditionalSearchPath(pybullet_data.getDataPath()) + p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) params = [ 0.1903581461951056, 0.0006732219568880068, 0.05018085615283363, 3.219916795483583, 6.2406418167980595, 4.189869754607539 diff --git a/examples/pybullet/gym/pybullet_examples/motorMaxVelocity.py b/examples/pycram_bullet/examples/motorMaxVelocity.py similarity index 83% rename from examples/pybullet/gym/pybullet_examples/motorMaxVelocity.py rename to examples/pycram_bullet/examples/motorMaxVelocity.py index 95a0c1e39e..0ed24e9160 100644 --- a/examples/pybullet/gym/pybullet_examples/motorMaxVelocity.py +++ b/examples/pycram_bullet/examples/motorMaxVelocity.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) cartpole = p.loadURDF("cartpole.urdf") p.setRealTimeSimulation(1) p.setJointMotorControl2(cartpole, diff --git a/examples/pybullet/examples/otherPhysicsEngine.py b/examples/pycram_bullet/examples/otherPhysicsEngine.py similarity index 95% rename from examples/pybullet/examples/otherPhysicsEngine.py rename to examples/pycram_bullet/examples/otherPhysicsEngine.py index 59e0f18d12..9d30a82b83 100644 --- a/examples/pybullet/examples/otherPhysicsEngine.py +++ b/examples/pycram_bullet/examples/otherPhysicsEngine.py @@ -1,8 +1,8 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import time import math -import pybullet_data +import pycram_bullet_data usePhysX = True useMaximalCoordinates = True @@ -12,7 +12,7 @@ else: p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(fixedTimeStep=1. / 240., numSolverIterations=4, minimumSolverIslandSize=1024) diff --git a/examples/pybullet/gym/pybullet_examples/pdControl.py b/examples/pycram_bullet/examples/pdControl.py similarity index 98% rename from examples/pybullet/gym/pybullet_examples/pdControl.py rename to examples/pycram_bullet/examples/pdControl.py index e9c902e230..c2f8bf46d2 100644 --- a/examples/pybullet/gym/pybullet_examples/pdControl.py +++ b/examples/pycram_bullet/examples/pdControl.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p from pdControllerExplicit import PDControllerExplicitMultiDof from pdControllerExplicit import PDControllerExplicit from pdControllerStable import PDControllerStable @@ -6,10 +6,10 @@ import time useMaximalCoordinates = False -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) pole = p.loadURDF("cartpole.urdf", [0, 0, 0], useMaximalCoordinates=useMaximalCoordinates) pole2 = p.loadURDF("cartpole.urdf", [0, 1, 0], useMaximalCoordinates=useMaximalCoordinates) pole3 = p.loadURDF("cartpole.urdf", [0, 2, 0], useMaximalCoordinates=useMaximalCoordinates) diff --git a/examples/pybullet/examples/pdControllerExplicit.py b/examples/pycram_bullet/examples/pdControllerExplicit.py similarity index 100% rename from examples/pybullet/examples/pdControllerExplicit.py rename to examples/pycram_bullet/examples/pdControllerExplicit.py diff --git a/examples/pybullet/examples/pdControllerStable.py b/examples/pycram_bullet/examples/pdControllerStable.py similarity index 100% rename from examples/pybullet/examples/pdControllerStable.py rename to examples/pycram_bullet/examples/pdControllerStable.py diff --git a/examples/pybullet/examples/pickup2.zip b/examples/pycram_bullet/examples/pickup2.zip similarity index 100% rename from examples/pybullet/examples/pickup2.zip rename to examples/pycram_bullet/examples/pickup2.zip diff --git a/examples/pybullet/examples/pointCloudFromCameraImage.py b/examples/pycram_bullet/examples/pointCloudFromCameraImage.py similarity index 98% rename from examples/pybullet/examples/pointCloudFromCameraImage.py rename to examples/pycram_bullet/examples/pointCloudFromCameraImage.py index 23fbe302ff..0ca737dd6a 100644 --- a/examples/pybullet/examples/pointCloudFromCameraImage.py +++ b/examples/pycram_bullet/examples/pointCloudFromCameraImage.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import math import numpy as np -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) plane = p.loadURDF("plane100.urdf") cube = p.loadURDF("cube.urdf", [0, 0, 1]) diff --git a/examples/pybullet/examples/profileTiming.py b/examples/pycram_bullet/examples/profileTiming.py similarity index 86% rename from examples/pybullet/examples/profileTiming.py rename to examples/pycram_bullet/examples/profileTiming.py index 88e987df36..cf0e4389a5 100644 --- a/examples/pybullet/examples/profileTiming.py +++ b/examples/pycram_bullet/examples/profileTiming.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time #you can visualize the timings using Google Chrome, visit about://tracing #and load the json file -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) #p.configureDebugVisualizer(p.ENABLE_RENDERING,0) p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) t = time.time() + 3.1 diff --git a/examples/pybullet/examples/projective_texture.py b/examples/pycram_bullet/examples/projective_texture.py similarity index 92% rename from examples/pybullet/examples/projective_texture.py rename to examples/pycram_bullet/examples/projective_texture.py index 6116c59b0e..dc4311239c 100644 --- a/examples/pybullet/examples/projective_texture.py +++ b/examples/pycram_bullet/examples/projective_texture.py @@ -1,12 +1,12 @@ -import pybullet as p +import pycram_bullet as p from time import sleep import matplotlib.pyplot as plt import numpy as np -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, 0) bearStartPos1 = [-3.3, 0, 0] bearStartOrientation1 = p.getQuaternionFromEuler([0, 0, 0]) diff --git a/examples/pybullet/examples/quadruped.py b/examples/pycram_bullet/examples/quadruped.py similarity index 99% rename from examples/pybullet/examples/quadruped.py rename to examples/pycram_bullet/examples/quadruped.py index 356bb777f7..e49abf0b9a 100644 --- a/examples/pybullet/examples/quadruped.py +++ b/examples/pycram_bullet/examples/quadruped.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data @@ -131,7 +131,7 @@ def drawInertiaBox(parentUid, parentLinkIndex, color): p.connect(p.GUI) #p.resetSimulation() -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) angle = 0 # pick in range 0..0.2 radians orn = p.getQuaternionFromEuler([0, angle, 0]) p.loadURDF("plane.urdf", [0, 0, 0], orn) diff --git a/examples/pybullet/examples/quadruped_playback.py b/examples/pycram_bullet/examples/quadruped_playback.py similarity index 98% rename from examples/pybullet/examples/quadruped_playback.py rename to examples/pycram_bullet/examples/quadruped_playback.py index 626f29a5f1..a7443d1dbd 100644 --- a/examples/pybullet/examples/quadruped_playback.py +++ b/examples/pycram_bullet/examples/quadruped_playback.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime @@ -9,7 +9,7 @@ import os, fnmatch import argparse from time import sleep -import pybullet_data +import pycram_bullet_data def readLogFile(filename, verbose=True): @@ -57,7 +57,7 @@ def readLogFile(filename, verbose=True): clid = p.connect(p.SHARED_MEMORY) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) log = readLogFile("LOG00076.TXT") recordNum = len(log) diff --git a/examples/pybullet/examples/quadruped_setup_playback.py b/examples/pycram_bullet/examples/quadruped_setup_playback.py similarity index 95% rename from examples/pybullet/examples/quadruped_setup_playback.py rename to examples/pycram_bullet/examples/quadruped_setup_playback.py index f71ff4f192..92f6829f6f 100644 --- a/examples/pybullet/examples/quadruped_setup_playback.py +++ b/examples/pycram_bullet/examples/quadruped_setup_playback.py @@ -1,9 +1,9 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.SHARED_MEMORY) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) objects = [ p.loadURDF("plane.urdf", 0.000000, 0.000000, -.300000, 0.000000, 0.000000, 0.000000, 1.000000) ] diff --git a/examples/pybullet/examples/racecar.py b/examples/pycram_bullet/examples/racecar.py similarity index 88% rename from examples/pybullet/examples/racecar.py rename to examples/pycram_bullet/examples/racecar.py index 612959d8d0..33b2318268 100644 --- a/examples/pybullet/examples/racecar.py +++ b/examples/pycram_bullet/examples/racecar.py @@ -5,8 +5,8 @@ os.sys.path.insert(0, parentdir) -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data import time @@ -23,9 +23,9 @@ #p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4") p.setRealTimeSimulation(useRealTimeSim) # either this #p.loadURDF("plane.urdf") -p.loadSDF(os.path.join(pybullet_data.getDataPath(), "stadium.sdf")) +p.loadSDF(os.path.join(pycram_bullet_data.getDataPath(), "stadium.sdf")) -car = p.loadURDF(os.path.join(pybullet_data.getDataPath(), "racecar/racecar.urdf")) +car = p.loadURDF(os.path.join(pycram_bullet_data.getDataPath(), "racecar/racecar.urdf")) for i in range(p.getNumJoints(car)): print(p.getJointInfo(car, i)) diff --git a/examples/pybullet/examples/racecar_differential.py b/examples/pycram_bullet/examples/racecar_differential.py similarity index 97% rename from examples/pybullet/examples/racecar_differential.py rename to examples/pycram_bullet/examples/racecar_differential.py index abd2b904f1..8ed8280a91 100644 --- a/examples/pybullet/examples/racecar_differential.py +++ b/examples/pycram_bullet/examples/racecar_differential.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation() p.setGravity(0, 0, -10) useRealTimeSim = 1 diff --git a/examples/pybullet/examples/reduced_deformable_cube.py b/examples/pycram_bullet/examples/reduced_deformable_cube.py similarity index 86% rename from examples/pybullet/examples/reduced_deformable_cube.py rename to examples/pycram_bullet/examples/reduced_deformable_cube.py index cab91cfdba..b36a94340d 100644 --- a/examples/pybullet/examples/reduced_deformable_cube.py +++ b/examples/pycram_bullet/examples/reduced_deformable_cube.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p from time import sleep -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation(p.RESET_USE_REDUCED_DEFORMABLE_WORLD) p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0]) diff --git a/examples/pybullet/examples/reduced_deformable_torus.py b/examples/pycram_bullet/examples/reduced_deformable_torus.py similarity index 89% rename from examples/pybullet/examples/reduced_deformable_torus.py rename to examples/pycram_bullet/examples/reduced_deformable_torus.py index 8f42e03723..933a908205 100644 --- a/examples/pybullet/examples/reduced_deformable_torus.py +++ b/examples/pycram_bullet/examples/reduced_deformable_torus.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p from time import sleep -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation(p.RESET_USE_REDUCED_DEFORMABLE_WORLD) p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0]) diff --git a/examples/pycram_bullet/examples/renderPlugin.py b/examples/pycram_bullet/examples/renderPlugin.py new file mode 100644 index 0000000000..3ca64fb7e0 --- /dev/null +++ b/examples/pycram_bullet/examples/renderPlugin.py @@ -0,0 +1,12 @@ +import pycram_bullet as p +import pycram_bullet_data + +p.connect(p.GUI) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) +plugin = p.loadPlugin("d:/develop/bullet3/bin/pycram_bullet_testplugin_vs2010_x64_debug.dll", + "_testPlugin") +print("plugin=", plugin) +p.loadURDF("r2d2.urdf") + +while (1): + p.getCameraImage(320, 200) diff --git a/examples/pybullet/examples/rendertest.py b/examples/pycram_bullet/examples/rendertest.py similarity index 64% rename from examples/pybullet/examples/rendertest.py rename to examples/pycram_bullet/examples/rendertest.py index e3fcd2fcaf..da7e80a1d6 100644 --- a/examples/pybullet/examples/rendertest.py +++ b/examples/pycram_bullet/examples/rendertest.py @@ -1,4 +1,4 @@ -#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled +#make sure to compile pycram_bullet with PYBULLET_USE_NUMPY enabled #otherwise use testrender.py (slower but compatible without numpy) #you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU) @@ -8,9 +8,9 @@ import itertools import subprocess import numpy as np -import pybullet +import pycram_bullet from multiprocessing import Process -import pybullet_data +import pycram_bullet_data camTargetPos = [0, 0, 0] @@ -42,29 +42,29 @@ def __enter__(self): optionstring += ' --window_backend=2 --render_device=0' print(self.connection_mode, optionstring, *self.argv) - cid = pybullet.connect(self.connection_mode, options=optionstring, *self.argv) - pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()) + cid = pycram_bullet.connect(self.connection_mode, options=optionstring, *self.argv) + pycram_bullet.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) if cid < 0: raise ValueError print("connected") - pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0) - pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0) - pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0) - pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW, 0) + pycram_bullet.configureDebugVisualizer(pycram_bullet.COV_ENABLE_GUI, 0) + pycram_bullet.configureDebugVisualizer(pycram_bullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0) + pycram_bullet.configureDebugVisualizer(pycram_bullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0) + pycram_bullet.configureDebugVisualizer(pycram_bullet.COV_ENABLE_RGB_BUFFER_PREVIEW, 0) - pybullet.resetSimulation() - pybullet.loadURDF("plane.urdf", [0, 0, -1]) - pybullet.loadURDF("r2d2.urdf") - pybullet.loadURDF("duck_vhacd.urdf") - pybullet.setGravity(0, 0, -10) + pycram_bullet.resetSimulation() + pycram_bullet.loadURDF("plane.urdf", [0, 0, -1]) + pycram_bullet.loadURDF("r2d2.urdf") + pycram_bullet.loadURDF("duck_vhacd.urdf") + pycram_bullet.setGravity(0, 0, -10) def __exit__(self, *_, **__): - pybullet.disconnect() + pycram_bullet.disconnect() def test(num_runs=300, shadow=1, log=True, plot=False): if log: - logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings") + logId = pycram_bullet.startStateLogging(pycram_bullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings") if plot: plt.ion() @@ -77,20 +77,20 @@ def test(num_runs=300, shadow=1, log=True, plot=False): times = np.zeros(num_runs) yaw_gen = itertools.cycle(range(0, 360, 10)) for i, yaw in zip(range(num_runs), yaw_gen): - pybullet.stepSimulation() + pycram_bullet.stepSimulation() start = time.time() - viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, + viewMatrix = pycram_bullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) aspect = pixelWidth / pixelHeight - projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) - img_arr = pybullet.getCameraImage(pixelWidth, + projectionMatrix = pycram_bullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) + img_arr = pycram_bullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix, projectionMatrix, shadow=shadow, lightDirection=[1, 1, 1], - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) - #renderer=pybullet.ER_TINY_RENDERER) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) + #renderer=pycram_bullet.ER_TINY_RENDERER) stop = time.time() duration = (stop - start) if (duration): @@ -115,7 +115,7 @@ def test(num_runs=300, shadow=1, log=True, plot=False): print("mean: {0} for {1} runs".format(mean_time, num_runs)) print("") if log: - pybullet.stopStateLogging(logId) + pycram_bullet.stopStateLogging(logId) return mean_time @@ -123,16 +123,16 @@ def test(num_runs=300, shadow=1, log=True, plot=False): res = [] - with BulletSim(pybullet.DIRECT): + with BulletSim(pycram_bullet.DIRECT): print("\nTesting DIRECT") mean_time = test(log=False, plot=True) res.append(("tiny", mean_time)) - with BulletSim(pybullet.DIRECT): + with BulletSim(pycram_bullet.DIRECT): plugin_fn = os.path.join( - pybullet.__file__.split("bullet3")[0], + pycram_bullet.__file__.split("bullet3")[0], "bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so") - plugin = pybullet.loadPlugin(plugin_fn, "_tinyRendererPlugin") + plugin = pycram_bullet.loadPlugin(plugin_fn, "_tinyRendererPlugin") if plugin < 0: print("\nPlugin Failed to load!\n") sys.exit() @@ -141,7 +141,7 @@ def test(num_runs=300, shadow=1, log=True, plot=False): mean_time = test(log=True) res.append(("plugin", mean_time)) - with BulletSim(pybullet.GUI): + with BulletSim(pycram_bullet.GUI): print("\nTesting GUI") mean_time = test(log=False) res.append(("egl", mean_time)) diff --git a/examples/pybullet/examples/rendertest_sync.py b/examples/pycram_bullet/examples/rendertest_sync.py similarity index 98% rename from examples/pybullet/examples/rendertest_sync.py rename to examples/pycram_bullet/examples/rendertest_sync.py index b7dfd2f3ed..8d31d8b86b 100644 --- a/examples/pybullet/examples/rendertest_sync.py +++ b/examples/pycram_bullet/examples/rendertest_sync.py @@ -11,7 +11,7 @@ import gym from gym import spaces -import pybullet as p +import pycram_bullet as p from itertools import cycle import numpy as np @@ -96,7 +96,7 @@ def step(self, action): shadow=1, lightDirection=[1, 1, 1], renderer=p.ER_BULLET_HARDWARE_OPENGL) - #renderer=pybullet.ER_TINY_RENDERER) + #renderer=pycram_bullet.ER_TINY_RENDERER) self._observation = img_arr[2] return np.array(self._observation), 0, 0, {} diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pycram_bullet/examples/reset_dynamic_info.py similarity index 97% rename from examples/pybullet/examples/reset_dynamic_info.py rename to examples/pycram_bullet/examples/reset_dynamic_info.py index d42aa558fc..aee204acda 100644 --- a/examples/pybullet/examples/reset_dynamic_info.py +++ b/examples/pycram_bullet/examples/reset_dynamic_info.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) planeId = p.loadURDF(fileName="plane.urdf", baseOrientation=[0.25882, 0, 0, 0.96593]) p.loadURDF(fileName="cube.urdf", basePosition=[0, 0, 2]) cubeId = p.loadURDF(fileName="cube.urdf", baseOrientation=[0, 0, 0, 1], basePosition=[0, 0, 4]) diff --git a/examples/pybullet/examples/restitution.py b/examples/pycram_bullet/examples/restitution.py similarity index 93% rename from examples/pybullet/examples/restitution.py rename to examples/pycram_bullet/examples/restitution.py index 5e84b3b610..43f9a989fa 100644 --- a/examples/pybullet/examples/restitution.py +++ b/examples/pycram_bullet/examples/restitution.py @@ -1,15 +1,15 @@ #you can set the restitution (bouncyness) of an object in the URDF file #or using changeDynamics -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): cid = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) restitutionId = p.addUserDebugParameter("restitution", 0, 1, 1) restitutionVelocityThresholdId = p.addUserDebugParameter("res. vel. threshold", 0, 3, 0.2) diff --git a/examples/pybullet/examples/robotcontrol.py b/examples/pycram_bullet/examples/robotcontrol.py similarity index 85% rename from examples/pybullet/examples/robotcontrol.py rename to examples/pycram_bullet/examples/robotcontrol.py index 9bc917c30a..e4ff0b4e93 100644 --- a/examples/pybullet/examples/robotcontrol.py +++ b/examples/pycram_bullet/examples/robotcontrol.py @@ -1,8 +1,8 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") p.setGravity(0, 0, -10) diff --git a/examples/pybullet/examples/rollPitchYaw.py b/examples/pycram_bullet/examples/rollPitchYaw.py similarity index 88% rename from examples/pybullet/examples/rollPitchYaw.py rename to examples/pycram_bullet/examples/rollPitchYaw.py index e5dac10ba9..2d04734f11 100644 --- a/examples/pybullet/examples/rollPitchYaw.py +++ b/examples/pycram_bullet/examples/rollPitchYaw.py @@ -1,12 +1,12 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) q = p.loadURDF("quadruped/quadruped.urdf", useFixedBase=True) rollId = p.addUserDebugParameter("roll", -1.5, 1.5, 0) pitchId = p.addUserDebugParameter("pitch", -1.5, 1.5, 0) diff --git a/examples/pybullet/examples/rotationalFriction.py b/examples/pycram_bullet/examples/rotationalFriction.py similarity index 75% rename from examples/pybullet/examples/rotationalFriction.py rename to examples/pycram_bullet/examples/rotationalFriction.py index b8f524cb2d..902c855129 100644 --- a/examples/pybullet/examples/rotationalFriction.py +++ b/examples/pycram_bullet/examples/rotationalFriction.py @@ -1,12 +1,12 @@ import time -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd useMaximalCoordinatesA = True useMaximalCoordinatesB = True -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setAdditionalSearchPath(pd.getDataPath()) cube=p.loadURDF("cube_rotate.urdf",useMaximalCoordinates=useMaximalCoordinatesA) p.loadURDF("sphere2.urdf",[0,0,2],useMaximalCoordinates=useMaximalCoordinatesB) diff --git a/examples/pybullet/gym/pybullet_examples/satCollision.py b/examples/pycram_bullet/examples/satCollision.py similarity index 83% rename from examples/pybullet/gym/pybullet_examples/satCollision.py rename to examples/pycram_bullet/examples/satCollision.py index af68e143fc..e9755d90ed 100644 --- a/examples/pybullet/gym/pybullet_examples/satCollision.py +++ b/examples/pycram_bullet/examples/satCollision.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, -10) p.setPhysicsEngineParameter(enableSAT=1) p.loadURDF("cube_concave.urdf", [0, 0, -25], diff --git a/examples/pybullet/examples/saveRestoreState.py b/examples/pycram_bullet/examples/saveRestoreState.py similarity index 96% rename from examples/pybullet/examples/saveRestoreState.py rename to examples/pycram_bullet/examples/saveRestoreState.py index f9e12d4a63..ef04b54a23 100644 --- a/examples/pybullet/examples/saveRestoreState.py +++ b/examples/pycram_bullet/examples/saveRestoreState.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import math, time import difflib, sys -import pybullet_data +import pycram_bullet_data numSteps = 500 @@ -10,7 +10,7 @@ numObjects = 50 verbose = 0 -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "saveRestoreTimings.log") diff --git a/examples/pybullet/examples/saveWorld.py b/examples/pycram_bullet/examples/saveWorld.py similarity index 58% rename from examples/pybullet/examples/saveWorld.py rename to examples/pycram_bullet/examples/saveWorld.py index e4026770f1..a526c7be9b 100644 --- a/examples/pybullet/examples/saveWorld.py +++ b/examples/pycram_bullet/examples/saveWorld.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.SHARED_MEMORY) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) timestr = time.strftime("%Y%m%d-%H%M%S") filename = "saveWorld" + timestr + ".py" p.saveWorld(filename) diff --git a/examples/pybullet/gym/pybullet_examples/sceneAabb.py b/examples/pycram_bullet/examples/sceneAabb.py similarity index 87% rename from examples/pybullet/gym/pybullet_examples/sceneAabb.py rename to examples/pycram_bullet/examples/sceneAabb.py index 260fa4f642..b5ee994e55 100644 --- a/examples/pybullet/gym/pybullet_examples/sceneAabb.py +++ b/examples/pycram_bullet/examples/sceneAabb.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time import numpy as np -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") p.loadURDF("sphere2.urdf",[0,0,2]) diff --git a/examples/pybullet/examples/segmask_linkindex.py b/examples/pycram_bullet/examples/segmask_linkindex.py similarity index 90% rename from examples/pybullet/examples/segmask_linkindex.py rename to examples/pycram_bullet/examples/segmask_linkindex.py index 6733ce3e1c..577124c90f 100644 --- a/examples/pybullet/examples/segmask_linkindex.py +++ b/examples/pycram_bullet/examples/segmask_linkindex.py @@ -1,8 +1,8 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) r2d2 = p.loadURDF("r2d2.urdf", [0, 0, 1]) for l in range(p.getNumJoints(r2d2)): print(p.getJointInfo(r2d2, l)) diff --git a/examples/pybullet/examples/shiftCenterOfMass.py b/examples/pycram_bullet/examples/shiftCenterOfMass.py similarity index 85% rename from examples/pybullet/examples/shiftCenterOfMass.py rename to examples/pycram_bullet/examples/shiftCenterOfMass.py index 95a507d91d..ec22390b46 100644 --- a/examples/pybullet/examples/shiftCenterOfMass.py +++ b/examples/pycram_bullet/examples/shiftCenterOfMass.py @@ -1,12 +1,12 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") p.setGravity(0, 0, -10) diff --git a/examples/pybullet/examples/signedDistanceField.py b/examples/pycram_bullet/examples/signedDistanceField.py similarity index 68% rename from examples/pybullet/examples/signedDistanceField.py rename to examples/pycram_bullet/examples/signedDistanceField.py index e1f94fc00a..f4cf0e05b4 100644 --- a/examples/pybullet/examples/signedDistanceField.py +++ b/examples/pycram_bullet/examples/signedDistanceField.py @@ -1,10 +1,10 @@ -import pybullet as p -import pybullet +import pycram_bullet as p +import pycram_bullet import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("toys/concave_box.urdf") p.setGravity(0, 0, -10) for i in range(10): diff --git a/examples/pybullet/examples/sleeping.py b/examples/pycram_bullet/examples/sleeping.py similarity index 91% rename from examples/pybullet/examples/sleeping.py rename to examples/pycram_bullet/examples/sleeping.py index fa4ef72c18..4ea1f0f687 100644 --- a/examples/pybullet/examples/sleeping.py +++ b/examples/pycram_bullet/examples/sleeping.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time useMaximalCoordinates = False flags = p.URDF_ENABLE_SLEEPING -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0) p.loadURDF("plane100.urdf", flags=flags, useMaximalCoordinates=useMaximalCoordinates) diff --git a/examples/pybullet/gym/pybullet_examples/snake.py b/examples/pycram_bullet/examples/snake.py similarity index 97% rename from examples/pybullet/gym/pybullet_examples/snake.py rename to examples/pycram_bullet/examples/snake.py index d70a50e0aa..0777a0b2b6 100644 --- a/examples/pybullet/gym/pybullet_examples/snake.py +++ b/examples/pycram_bullet/examples/snake.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time import math # This simple snake logic is from some 15 year old Havok C++ demo # Thanks to Michael Ewert! -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) plane = p.createCollisionShape(p.GEOM_PLANE) p.createMultiBody(0, plane) diff --git a/examples/pybullet/gym/pybullet_examples/soccerball.py b/examples/pycram_bullet/examples/soccerball.py similarity index 90% rename from examples/pybullet/gym/pybullet_examples/soccerball.py rename to examples/pycram_bullet/examples/soccerball.py index dae6acd8bf..b13537317b 100644 --- a/examples/pybullet/gym/pybullet_examples/soccerball.py +++ b/examples/pycram_bullet/examples/soccerball.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import time p.connect(p.GUI) p.setAdditionalSearchPath(pd.getDataPath()) diff --git a/examples/pybullet/examples/spherical_joint_limit.py b/examples/pycram_bullet/examples/spherical_joint_limit.py similarity index 97% rename from examples/pybullet/examples/spherical_joint_limit.py rename to examples/pycram_bullet/examples/spherical_joint_limit.py index c8ee8af015..73ed97883f 100644 --- a/examples/pybullet/examples/spherical_joint_limit.py +++ b/examples/pycram_bullet/examples/spherical_joint_limit.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd #see spherical_joint_limit.urdf #lower is the swing range in the joint local X axis diff --git a/examples/pybullet/examples/switchConstraintSolver.py b/examples/pycram_bullet/examples/switchConstraintSolver.py similarity index 88% rename from examples/pybullet/examples/switchConstraintSolver.py rename to examples/pycram_bullet/examples/switchConstraintSolver.py index b526789cc2..9e0d91d025 100644 --- a/examples/pybullet/examples/switchConstraintSolver.py +++ b/examples/pycram_bullet/examples/switchConstraintSolver.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001) p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_DANTZIG, globalCFM=0.000001) diff --git a/examples/pybullet/examples/test.py b/examples/pycram_bullet/examples/test.py similarity index 51% rename from examples/pybullet/examples/test.py rename to examples/pycram_bullet/examples/test.py index 3a49bf1ab1..33c78ac466 100644 --- a/examples/pybullet/examples/test.py +++ b/examples/pycram_bullet/examples/test.py @@ -1,4 +1,4 @@ -#os.sys.path.insert is only needed when pybullet is not installed +#os.sys.path.insert is only needed when pycram_bullet is not installed #but running from github repo instead import os, inspect currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) @@ -6,41 +6,41 @@ parentdir = os.path.join(currentdir, "../gym") os.sys.path.insert(0, parentdir) -import pybullet -import pybullet_data +import pycram_bullet +import pycram_bullet_data import time #choose connection method: GUI, DIRECT, SHARED_MEMORY -pybullet.connect(pybullet.GUI) -pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(), "plane.urdf"), 0, 0, -1) +pycram_bullet.connect(pycram_bullet.GUI) +pycram_bullet.loadURDF(os.path.join(pycram_bullet_data.getDataPath(), "plane.urdf"), 0, 0, -1) #load URDF, given a relative or absolute file+path -obj = pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(), "r2d2.urdf")) +obj = pycram_bullet.loadURDF(os.path.join(pycram_bullet_data.getDataPath(), "r2d2.urdf")) posX = 0 posY = 3 posZ = 2 -obj2 = pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(), "kuka_iiwa/model.urdf"), posX, +obj2 = pycram_bullet.loadURDF(os.path.join(pycram_bullet_data.getDataPath(), "kuka_iiwa/model.urdf"), posX, posY, posZ) #query the number of joints of the object -numJoints = pybullet.getNumJoints(obj) +numJoints = pycram_bullet.getNumJoints(obj) print(numJoints) #set the gravity acceleration -pybullet.setGravity(0, 0, -9.8) +pycram_bullet.setGravity(0, 0, -9.8) #step the simulation for 5 seconds t_end = time.time() + 5 while time.time() < t_end: - pybullet.stepSimulation() - posAndOrn = pybullet.getBasePositionAndOrientation(obj) + pycram_bullet.stepSimulation() + posAndOrn = pycram_bullet.getBasePositionAndOrientation(obj) print(posAndOrn) print("finished") #remove all objects -pybullet.resetSimulation() +pycram_bullet.resetSimulation() #disconnect from the physics server -pybullet.disconnect() +pycram_bullet.disconnect() diff --git a/examples/pybullet/examples/testPlugin.py b/examples/pycram_bullet/examples/testPlugin.py similarity index 50% rename from examples/pybullet/examples/testPlugin.py rename to examples/pycram_bullet/examples/testPlugin.py index ed1715c23d..8e2627141c 100644 --- a/examples/pybullet/examples/testPlugin.py +++ b/examples/pycram_bullet/examples/testPlugin.py @@ -1,9 +1,9 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) -plugin = p.loadPlugin("D:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll", +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) +plugin = p.loadPlugin("D:/develop/bullet3/bin/pycram_bullet_testplugin_vs2010_x64_debug.dll", "_testPlugin") print("plugin=", plugin) p.executePluginCommand(plugin, "r2d2.urdf", [1, 2, 3], [50.0, 3.3]) diff --git a/examples/pybullet/examples/test_inertia.py b/examples/pycram_bullet/examples/test_inertia.py similarity index 87% rename from examples/pybullet/examples/test_inertia.py rename to examples/pycram_bullet/examples/test_inertia.py index d30827db73..2fc9a53eeb 100644 --- a/examples/pybullet/examples/test_inertia.py +++ b/examples/pycram_bullet/examples/test_inertia.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p from time import sleep -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) useDeformable = True if useDeformable: p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) diff --git a/examples/pybullet/examples/testrender.py b/examples/pycram_bullet/examples/testrender.py similarity index 84% rename from examples/pybullet/examples/testrender.py rename to examples/pycram_bullet/examples/testrender.py index cfaf99d7a9..7640d27b9f 100644 --- a/examples/pybullet/examples/testrender.py +++ b/examples/pycram_bullet/examples/testrender.py @@ -1,8 +1,8 @@ #testrender.py is a bit slower than testrender_np.py: pixels are copied from C to Python one by one import matplotlib.pyplot as plt -import pybullet -import pybullet as p +import pycram_bullet +import pycram_bullet as p import time import numpy as np #to reshape for matplotlib @@ -12,27 +12,27 @@ #img = [tandard_normal((50,100)) image = plt.imshow(img, interpolation='none', animated=True, label="blah") ax = plt.gca() -import pybullet_data +import pycram_bullet_data -pybullet.connect(pybullet.DIRECT) +pycram_bullet.connect(pycram_bullet.DIRECT) if 1: import pkgutil egl = pkgutil.get_loader('eglRenderer') if (egl): - pluginId = pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin") + pluginId = pycram_bullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin") else: - pluginId = pybullet.loadPlugin("eglRendererPlugin") + pluginId = pycram_bullet.loadPlugin("eglRendererPlugin") print("pluginId=",pluginId) -pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()) +pycram_bullet.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) -#pybullet.loadPlugin("eglRendererPlugin") +#pycram_bullet.loadPlugin("eglRendererPlugin") usePlane = False updateHeightfield = True textureId = -1 if usePlane: - pybullet.loadURDF("plane.urdf", [0, 0, -1]) + pycram_bullet.loadURDF("plane.urdf", [0, 0, -1]) else: @@ -77,9 +77,9 @@ p.changeVisualShape(terrain, -1, rgbaColor=[1,1,1,1]) -#pybullet.loadURDF("r2d2.urdf") +#pycram_bullet.loadURDF("r2d2.urdf") -pybullet.setGravity(0, 0, -10) +pycram_bullet.setGravity(0, 0, -10) camTargetPos = [0, 0, 0] cameraUp = [0, 0, 1] cameraPos = [1, 1, 1] @@ -114,19 +114,19 @@ print("update!") terrainShape2 = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, flags = flags, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns, replaceHeightfieldIndex = terrainShape) - pybullet.stepSimulation() + pycram_bullet.stepSimulation() start = time.time() - viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, + viewMatrix = pycram_bullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) aspect = pixelWidth / pixelHeight - projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) - img_arr = pybullet.getCameraImage(pixelWidth, + projectionMatrix = pycram_bullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) + img_arr = pycram_bullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix, projectionMatrix, shadow=1, lightDirection=[1, 1, 1], - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) stop = time.time() print("renderImage %f" % (stop - start)) @@ -156,4 +156,4 @@ print("Total time %f" % (main_stop - main_start)) -pybullet.resetSimulation() +pycram_bullet.resetSimulation() diff --git a/examples/pybullet/examples/testrender_egl.py b/examples/pycram_bullet/examples/testrender_egl.py similarity index 70% rename from examples/pybullet/examples/testrender_egl.py rename to examples/pycram_bullet/examples/testrender_egl.py index c511e3cdcf..ec5d41cd0f 100644 --- a/examples/pybullet/examples/testrender_egl.py +++ b/examples/pycram_bullet/examples/testrender_egl.py @@ -2,13 +2,13 @@ #using the eglRendererPlugin (hardware OpenGL acceleration) #using EGL on Linux and default OpenGL window on Win32. -#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled +#make sure to compile pycram_bullet with PYBULLET_USE_NUMPY enabled #otherwise use testrender.py (slower but compatible without numpy) #you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU) import numpy as np import matplotlib.pyplot as plt -import pybullet +import pycram_bullet import time import pkgutil @@ -18,26 +18,26 @@ #img = [tandard_normal((50,100)) image = plt.imshow(img, interpolation='none', animated=True, label="blah") ax = plt.gca() -import pybullet_data +import pycram_bullet_data -pybullet.connect(pybullet.DIRECT) +pycram_bullet.connect(pycram_bullet.DIRECT) -pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()) +pycram_bullet.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) egl = pkgutil.get_loader('eglRenderer') if (egl): - pluginId = pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin") + pluginId = pycram_bullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin") else: - pluginId = pybullet.loadPlugin("eglRendererPlugin") + pluginId = pycram_bullet.loadPlugin("eglRendererPlugin") print("pluginId=",pluginId) -pybullet.loadURDF("plane.urdf", [0, 0, -1]) -pybullet.loadURDF("r2d2.urdf") +pycram_bullet.loadURDF("plane.urdf", [0, 0, -1]) +pycram_bullet.loadURDF("r2d2.urdf") camTargetPos = [0, 0, 0] cameraUp = [0, 0, 1] cameraPos = [1, 1, 1] -pybullet.setGravity(0, 0, -10) +pycram_bullet.setGravity(0, 0, -10) pitch = -10.0 @@ -54,20 +54,20 @@ main_start = time.time() while (1): for yaw in range(0, 360, 10): - pybullet.stepSimulation() + pycram_bullet.stepSimulation() start = time.time() - viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, + viewMatrix = pycram_bullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) aspect = pixelWidth / pixelHeight - projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) - img_arr = pybullet.getCameraImage(pixelWidth, + projectionMatrix = pycram_bullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) + img_arr = pycram_bullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix, projectionMatrix, shadow=1, lightDirection=[1, 1, 1], - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) stop = time.time() #print("renderImage %f" % (stop - start)) @@ -99,4 +99,4 @@ print("Total time %f" % (main_stop - main_start)) -pybullet.resetSimulation() +pycram_bullet.resetSimulation() diff --git a/examples/pybullet/examples/testrender_np.py b/examples/pycram_bullet/examples/testrender_np.py similarity index 70% rename from examples/pybullet/examples/testrender_np.py rename to examples/pycram_bullet/examples/testrender_np.py index 2c313a4575..0ed5608e9a 100644 --- a/examples/pybullet/examples/testrender_np.py +++ b/examples/pycram_bullet/examples/testrender_np.py @@ -1,12 +1,12 @@ -#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled +#make sure to compile pycram_bullet with PYBULLET_USE_NUMPY enabled #otherwise use testrender.py (slower but compatible without numpy) #you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU) import numpy as np import matplotlib.pyplot as plt -import pybullet +import pycram_bullet import time -import pybullet_data +import pycram_bullet_data plt.ion() @@ -15,17 +15,17 @@ image = plt.imshow(img, interpolation='none', animated=True, label="blah") ax = plt.gca() -#pybullet.connect(pybullet.GUI) -pybullet.connect(pybullet.DIRECT) +#pycram_bullet.connect(pycram_bullet.GUI) +pycram_bullet.connect(pycram_bullet.DIRECT) -pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()) -pybullet.loadURDF("plane.urdf", [0, 0, -1]) -pybullet.loadURDF("r2d2.urdf") +pycram_bullet.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) +pycram_bullet.loadURDF("plane.urdf", [0, 0, -1]) +pycram_bullet.loadURDF("r2d2.urdf") camTargetPos = [0, 0, 0] cameraUp = [0, 0, 1] cameraPos = [1, 1, 1] -pybullet.setGravity(0, 0, -10) +pycram_bullet.setGravity(0, 0, -10) pitch = -10.0 @@ -42,20 +42,20 @@ main_start = time.time() while (1): for yaw in range(0, 360, 10): - pybullet.stepSimulation() + pycram_bullet.stepSimulation() start = time.time() - viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, + viewMatrix = pycram_bullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) aspect = pixelWidth / pixelHeight - projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) - img_arr = pybullet.getCameraImage(pixelWidth, + projectionMatrix = pycram_bullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) + img_arr = pycram_bullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix, projectionMatrix, shadow=1, lightDirection=[1, 1, 1], - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) stop = time.time() print("renderImage %f" % (stop - start)) @@ -87,4 +87,4 @@ print("Total time %f" % (main_stop - main_start)) -pybullet.resetSimulation() +pycram_bullet.resetSimulation() diff --git a/examples/pybullet/examples/transparent.py b/examples/pycram_bullet/examples/transparent.py similarity index 87% rename from examples/pybullet/examples/transparent.py rename to examples/pycram_bullet/examples/transparent.py index 8a4831002c..45130cf234 100644 --- a/examples/pybullet/examples/transparent.py +++ b/examples/pycram_bullet/examples/transparent.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") sphereUid = p.loadURDF("sphere_transparent.urdf", [0, 0, 2]) diff --git a/examples/pybullet/examples/urdfEditor.py b/examples/pycram_bullet/examples/urdfEditor.py similarity index 92% rename from examples/pybullet/examples/urdfEditor.py rename to examples/pycram_bullet/examples/urdfEditor.py index 9d29dd0105..0a12ebf063 100644 --- a/examples/pybullet/examples/urdfEditor.py +++ b/examples/pycram_bullet/examples/urdfEditor.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import time -from pybullet_utils import urdfEditor -import pybullet_data +from pycram_bullet_utils import urdfEditor +import pycram_bullet_data ########################################## @@ -12,7 +12,7 @@ gui = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation(physicsClientId=org) diff --git a/examples/pybullet/examples/userData.py b/examples/pycram_bullet/examples/userData.py similarity index 97% rename from examples/pybullet/examples/userData.py rename to examples/pycram_bullet/examples/userData.py index acfde4dbad..496bbed4a1 100644 --- a/examples/pybullet/examples/userData.py +++ b/examples/pycram_bullet/examples/userData.py @@ -1,6 +1,6 @@ -import pybullet as pb +import pycram_bullet as pb import time -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client server = bullet_client.BulletClient(connection_mode=pb.SHARED_MEMORY_SERVER) diff --git a/examples/pybullet/examples/vhacd.py b/examples/pycram_bullet/examples/vhacd.py similarity index 54% rename from examples/pybullet/examples/vhacd.py rename to examples/pycram_bullet/examples/vhacd.py index 8b4bcf77d0..791e91a18a 100644 --- a/examples/pybullet/examples/vhacd.py +++ b/examples/pycram_bullet/examples/vhacd.py @@ -1,11 +1,11 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import os -import pybullet_data +import pycram_bullet_data p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) name_in = os.path.join(pd.getDataPath(), "duck.obj") name_out = "duck_vhacd.obj" name_log = "log.txt" diff --git a/examples/pybullet/examples/video_sync_mp4.py b/examples/pycram_bullet/examples/video_sync_mp4.py similarity index 89% rename from examples/pybullet/examples/video_sync_mp4.py rename to examples/pycram_bullet/examples/video_sync_mp4.py index 7541017442..54ef908fb4 100644 --- a/examples/pybullet/examples/video_sync_mp4.py +++ b/examples/pycram_bullet/examples/video_sync_mp4.py @@ -1,6 +1,6 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data #Once the video is recorded, you can extract all individual frames using ffmpeg #mkdir frames @@ -9,7 +9,7 @@ #by default, PyBullet runs at 240Hz p.connect(p.GUI, options="--width=1920 --height=1080 --mp4=\"test.mp4\" --mp4fps=240") -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.configureDebugVisualizer(p.COV_ENABLE_GUI,0) p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1) p.loadURDF("plane.urdf") diff --git a/examples/pybullet/examples/vrEvent.py b/examples/pycram_bullet/examples/vrEvent.py similarity index 94% rename from examples/pybullet/examples/vrEvent.py rename to examples/pycram_bullet/examples/vrEvent.py index 068b025529..820145201f 100644 --- a/examples/pybullet/examples/vrEvent.py +++ b/examples/pycram_bullet/examples/vrEvent.py @@ -1,10 +1,10 @@ -# See pybullet quickstart guide here: +# See pycram_bullet quickstart guide here: # https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# # Create a Tiltbrush-like app, drawing lines using any controller # Line width can be changed -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data CONTROLLER_ID = 0 POSITION = 1 @@ -20,7 +20,7 @@ if (c < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setInternalSimFlags(0) #don't load default robot assets etc p.resetSimulation() diff --git a/examples/pybullet/examples/vr_kitchen_setup_vrSyncPython.py b/examples/pycram_bullet/examples/vr_kitchen_setup_vrSyncPython.py similarity index 99% rename from examples/pybullet/examples/vr_kitchen_setup_vrSyncPython.py rename to examples/pycram_bullet/examples/vr_kitchen_setup_vrSyncPython.py index 5ceb110791..c42bb3ce6d 100644 --- a/examples/pybullet/examples/vr_kitchen_setup_vrSyncPython.py +++ b/examples/pycram_bullet/examples/vr_kitchen_setup_vrSyncPython.py @@ -1,6 +1,6 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data #p.connect(p.UDP,"192.168.86.100") @@ -9,7 +9,7 @@ p.connect(p.GUI) p.resetSimulation() -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) meshScale = [.1, .1, .01] shift = [0, 0, 0] diff --git a/examples/pybullet/examples/vr_kuka_control.py b/examples/pycram_bullet/examples/vr_kuka_control.py similarity index 96% rename from examples/pybullet/examples/vr_kuka_control.py rename to examples/pycram_bullet/examples/vr_kuka_control.py index 203c9958c4..9373487c30 100644 --- a/examples/pybullet/examples/vr_kuka_control.py +++ b/examples/pycram_bullet/examples/vr_kuka_control.py @@ -1,14 +1,14 @@ ## Assume you have run vr_kuka_setup and have default scene set up # Require p.setInternalSimFlags(0) in kuka_setup -import pybullet as p +import pycram_bullet as p import math # import numpy as np -import pybullet_data +import pycram_bullet_data p.connect(p.SHARED_MEMORY) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) kuka = 3 kuka_gripper = 7 diff --git a/examples/pybullet/examples/vr_kuka_pr2_move.py b/examples/pycram_bullet/examples/vr_kuka_pr2_move.py similarity index 90% rename from examples/pybullet/examples/vr_kuka_pr2_move.py rename to examples/pycram_bullet/examples/vr_kuka_pr2_move.py index c671097ba2..e056219212 100644 --- a/examples/pybullet/examples/vr_kuka_pr2_move.py +++ b/examples/pycram_bullet/examples/vr_kuka_pr2_move.py @@ -1,11 +1,11 @@ #python script with hardcoded values, assumes that you run the vr_kuka_setup.py first -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.SHARED_MEMORY) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) pr2_gripper = 2 pr2_cid = 1 diff --git a/examples/pybullet/examples/vr_kuka_setup.py b/examples/pycram_bullet/examples/vr_kuka_setup.py similarity index 98% rename from examples/pybullet/examples/vr_kuka_setup.py rename to examples/pycram_bullet/examples/vr_kuka_setup.py index da9a795c78..cc74a7d940 100644 --- a/examples/pybullet/examples/vr_kuka_setup.py +++ b/examples/pycram_bullet/examples/vr_kuka_setup.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time #p.connect(p.UDP,"192.168.86.100") -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) if (cid < 0): p.connect(p.GUI) p.resetSimulation() diff --git a/examples/pybullet/examples/vr_kuka_setup_vrSyncPlugin.py b/examples/pycram_bullet/examples/vr_kuka_setup_vrSyncPlugin.py similarity index 96% rename from examples/pybullet/examples/vr_kuka_setup_vrSyncPlugin.py rename to examples/pycram_bullet/examples/vr_kuka_setup_vrSyncPlugin.py index 2d3ebaf0ba..20564e89ce 100644 --- a/examples/pybullet/examples/vr_kuka_setup_vrSyncPlugin.py +++ b/examples/pycram_bullet/examples/vr_kuka_setup_vrSyncPlugin.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import time #p.connect(p.UDP,"192.168.86.100") -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) @@ -9,7 +9,7 @@ p.connect(p.GUI) p.resetSimulation() -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #disable rendering during loading makes it much faster p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0) objects = [ @@ -194,7 +194,7 @@ print("Using controllerId=" + str(controllerId)) -#plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin") +#plugin = p.loadPlugin("d:/develop/bullet3/bin/pycram_bullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin") plugin = p.loadPlugin("vrSyncPlugin") print("PluginId=" + str(plugin)) diff --git a/examples/pybullet/examples/vr_kuka_setup_vrSyncPython.py b/examples/pycram_bullet/examples/vr_kuka_setup_vrSyncPython.py similarity index 98% rename from examples/pybullet/examples/vr_kuka_setup_vrSyncPython.py rename to examples/pycram_bullet/examples/vr_kuka_setup_vrSyncPython.py index ef9ac0dae9..11ba475142 100644 --- a/examples/pybullet/examples/vr_kuka_setup_vrSyncPython.py +++ b/examples/pycram_bullet/examples/vr_kuka_setup_vrSyncPython.py @@ -1,14 +1,14 @@ -import pybullet as p +import pycram_bullet as p import time #p.connect(p.UDP,"192.168.86.100") -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) p.resetSimulation() -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #disable rendering during loading makes it much faster p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0) objects = [ diff --git a/examples/pybullet/examples/vr_racecar_differential.py b/examples/pycram_bullet/examples/vr_racecar_differential.py similarity index 97% rename from examples/pybullet/examples/vr_racecar_differential.py rename to examples/pycram_bullet/examples/vr_racecar_differential.py index 6a8a645453..cdd55e4b25 100644 --- a/examples/pybullet/examples/vr_racecar_differential.py +++ b/examples/pycram_bullet/examples/vr_racecar_differential.py @@ -1,16 +1,16 @@ -import pybullet as p +import pycram_bullet as p import time CONTROLLER_ID = 0 POSITION = 1 ORIENTATION = 2 BUTTONS = 6 -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation() p.setGravity(0, 0, -10) useRealTimeSim = 1 diff --git a/examples/pybullet/examples/vrhand.py b/examples/pycram_bullet/examples/vrhand.py similarity index 96% rename from examples/pybullet/examples/vrhand.py rename to examples/pycram_bullet/examples/vrhand.py index 3fc0981f3f..394cc977f9 100644 --- a/examples/pybullet/examples/vrhand.py +++ b/examples/pycram_bullet/examples/vrhand.py @@ -7,8 +7,8 @@ import serial import time -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data #first try to connect to shared memory (VR), if it fails use local GUI c = p.connect(p.SHARED_MEMORY) @@ -16,7 +16,7 @@ c = p.connect(p.GUI) #p.resetSimulation() -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, -10) print(c) if (c < 0): diff --git a/examples/pybullet/examples/vrhand_vive_tracker.py b/examples/pycram_bullet/examples/vrhand_vive_tracker.py similarity index 97% rename from examples/pybullet/examples/vrhand_vive_tracker.py rename to examples/pycram_bullet/examples/vrhand_vive_tracker.py index de382d7f9b..c93fe72037 100644 --- a/examples/pybullet/examples/vrhand_vive_tracker.py +++ b/examples/pycram_bullet/examples/vrhand_vive_tracker.py @@ -7,15 +7,15 @@ import serial import time -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data #first try to connect to shared memory (VR), if it fails use local GUI c = p.connect(p.SHARED_MEMORY) if (c < 0): c = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setInternalSimFlags(0) #don't load default robot assets etc p.resetSimulation() diff --git a/examples/pybullet/examples/vrminitaur.py b/examples/pycram_bullet/examples/vrminitaur.py similarity index 92% rename from examples/pybullet/examples/vrminitaur.py rename to examples/pycram_bullet/examples/vrminitaur.py index 7966900e89..a33fcb0519 100644 --- a/examples/pybullet/examples/vrminitaur.py +++ b/examples/pycram_bullet/examples/vrminitaur.py @@ -1,8 +1,8 @@ #script to track a robot with a VR controller attached to it. import time -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data #first try to connect to shared memory (VR), if it fails use local GUI @@ -11,7 +11,7 @@ c = p.connect(p.GUI) p.resetSimulation() -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, 0) print(c) if (c < 0): diff --git a/examples/pybullet/examples/vrtracker.py b/examples/pycram_bullet/examples/vrtracker.py similarity index 95% rename from examples/pybullet/examples/vrtracker.py rename to examples/pycram_bullet/examples/vrtracker.py index 745caffebb..baffed6fd7 100644 --- a/examples/pybullet/examples/vrtracker.py +++ b/examples/pycram_bullet/examples/vrtracker.py @@ -1,10 +1,10 @@ -# See pybullet quickstart guide here: +# See pycram_bullet quickstart guide here: # https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# # Create a Tiltbrush-like app, drawing lines using any controller # Line width can be changed -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data CONTROLLER_ID = 0 @@ -18,7 +18,7 @@ if (c < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setInternalSimFlags(0) #don't load default robot assets etc p.resetSimulation() p.loadURDF("plane.urdf") diff --git a/examples/pybullet/examples/widows.py b/examples/pycram_bullet/examples/widows.py similarity index 88% rename from examples/pybullet/examples/widows.py rename to examples/pycram_bullet/examples/widows.py index 226c7f6b53..912769ed01 100644 --- a/examples/pybullet/examples/widows.py +++ b/examples/pycram_bullet/examples/widows.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("table/table.urdf", 0.5000000, 0.00000, -.820000, 0.000000, 0.000000, 0.0, 1.0) p.setGravity(0, 0, -10) arm = p.loadURDF("widowx/widowx.urdf", useFixedBase=True) diff --git a/examples/pybullet/gym/pybullet_data/TwoJointRobot_w_fixedJoints.urdf b/examples/pycram_bullet/gym/pybullet_data/TwoJointRobot_w_fixedJoints.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/TwoJointRobot_w_fixedJoints.urdf rename to examples/pycram_bullet/gym/pybullet_data/TwoJointRobot_w_fixedJoints.urdf diff --git a/examples/pybullet/gym/pybullet_data/TwoJointRobot_wo_fixedJoints.urdf b/examples/pycram_bullet/gym/pybullet_data/TwoJointRobot_wo_fixedJoints.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/TwoJointRobot_wo_fixedJoints.urdf rename to examples/pycram_bullet/gym/pybullet_data/TwoJointRobot_wo_fixedJoints.urdf diff --git a/examples/pybullet/gym/pybullet_data/__init__.py b/examples/pycram_bullet/gym/pybullet_data/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/a1/LICENSE b/examples/pycram_bullet/gym/pybullet_data/a1/LICENSE similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/LICENSE rename to examples/pycram_bullet/gym/pybullet_data/a1/LICENSE diff --git a/examples/pybullet/gym/pybullet_data/a1/a1.py b/examples/pycram_bullet/gym/pybullet_data/a1/a1.py similarity index 95% rename from examples/pybullet/gym/pybullet_data/a1/a1.py rename to examples/pycram_bullet/gym/pybullet_data/a1/a1.py index e21b188a0b..2bab7db181 100644 --- a/examples/pybullet/gym/pybullet_data/a1/a1.py +++ b/examples/pycram_bullet/gym/pybullet_data/a1/a1.py @@ -1,6 +1,6 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data as pd +import pycram_bullet_data as pd import numpy as np p.connect(p.GUI) p.setAdditionalSearchPath(pd.getDataPath()) diff --git a/examples/pybullet/gym/pybullet_data/a1/a1.urdf b/examples/pycram_bullet/gym/pybullet_data/a1/a1.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/a1.urdf rename to examples/pycram_bullet/gym/pybullet_data/a1/a1.urdf diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/calf.mtl b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/calf.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/calf.mtl rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/calf.mtl diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/calf.obj b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/calf.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/calf.obj rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/calf.obj diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/hip.mtl b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/hip.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/hip.mtl rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/hip.mtl diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/hip.obj b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/hip.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/hip.obj rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/hip.obj diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/thigh.mtl b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/thigh.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/thigh.mtl rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/thigh.mtl diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/thigh.obj b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/thigh.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/thigh.obj rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/thigh.obj diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.mtl b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/thigh_mirror.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.mtl rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/thigh_mirror.mtl diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/trunk.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/trunk.mtl diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.obj b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/trunk.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/trunk.obj rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/trunk.obj diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/trunk_A1.png b/examples/pycram_bullet/gym/pybullet_data/a1/meshes/trunk_A1.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/a1/meshes/trunk_A1.png rename to examples/pycram_bullet/gym/pybullet_data/a1/meshes/trunk_A1.png diff --git a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py b/examples/pycram_bullet/gym/pybullet_data/aliengo/aliengo.py similarity index 95% rename from examples/pybullet/gym/pybullet_data/aliengo/aliengo.py rename to examples/pycram_bullet/gym/pybullet_data/aliengo/aliengo.py index cb4588c464..9b470f5ebd 100644 --- a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py +++ b/examples/pycram_bullet/gym/pybullet_data/aliengo/aliengo.py @@ -1,6 +1,6 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data as pd +import pycram_bullet_data as pd import numpy as np p.connect(p.GUI) p.setAdditionalSearchPath(pd.getDataPath()) diff --git a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf b/examples/pycram_bullet/gym/pybullet_data/aliengo/aliengo.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf rename to examples/pycram_bullet/gym/pybullet_data/aliengo/aliengo.urdf diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/aliengo.png b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/aliengo.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/aliengo.png rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/aliengo.png diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.mtl b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/calf.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.mtl rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/calf.mtl diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.obj b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/calf.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.obj rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/calf.obj diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.mtl b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/hip.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.mtl rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/hip.mtl diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.obj b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/hip.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.obj rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/hip.obj diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.mtl b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/thigh.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.mtl rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/thigh.mtl diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.obj b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/thigh.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.obj rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/thigh.obj diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.mtl b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/trunk.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.mtl rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/trunk.mtl diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.obj b/examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/trunk.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.obj rename to examples/pycram_bullet/gym/pybullet_data/aliengo/meshes/trunk.obj diff --git a/examples/pybullet/gym/pybullet_data/args/kin_char_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/kin_char_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/kin_char_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/kin_char_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_backflip_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_backflip_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_backflip_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_backflip_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_cartwheel_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_cartwheel_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_cartwheel_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_cartwheel_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_crawl_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_crawl_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_crawl_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_crawl_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_dance_a_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_dance_a_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_dance_a_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_dance_a_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_dance_b_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_dance_b_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_dance_b_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_dance_b_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_getup_facedown_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_getup_facedown_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_getup_facedown_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_getup_facedown_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_getup_faceup_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_getup_faceup_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_getup_faceup_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_getup_faceup_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_jump_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_jump_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_jump_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_jump_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_kick_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_kick_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_kick_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_kick_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_punch_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_punch_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_punch_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_punch_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_roll_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_roll_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_roll_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_roll_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_run_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_run_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_run_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_run_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spin_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_spin_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spin_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_spin_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_spinkick_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_walk_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_walk_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_walk_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_walk_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/run_humanoid3d_walker_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_walker_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/run_humanoid3d_walker_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/run_humanoid3d_walker_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_backflip_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_backflip_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_backflip_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_backflip_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_cartwheel_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_cartwheel_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_cartwheel_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_cartwheel_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_crawl_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_crawl_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_crawl_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_crawl_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_dance_a_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_dance_a_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_dance_a_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_dance_a_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_dance_b_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_dance_b_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_dance_b_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_dance_b_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_getup_facedown_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_getup_facedown_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_getup_facedown_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_getup_facedown_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_getup_faceup_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_getup_faceup_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_getup_faceup_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_getup_faceup_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_jump_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_jump_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_jump_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_jump_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_kick_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_kick_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_kick_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_kick_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_punch_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_punch_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_punch_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_punch_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_roll_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_roll_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_roll_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_roll_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_run_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_run_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spin_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_spin_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spin_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_spin_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_spinkick_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walker_args.txt b/examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_walker_args.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walker_args.txt rename to examples/pycram_bullet/gym/pybullet_data/args/train_humanoid3d_walker_args.txt diff --git a/examples/pybullet/gym/pybullet_data/ball.vtk b/examples/pycram_bullet/gym/pybullet_data/ball.vtk similarity index 100% rename from examples/pybullet/gym/pybullet_data/ball.vtk rename to examples/pycram_bullet/gym/pybullet_data/ball.vtk diff --git a/examples/pybullet/gym/pybullet_data/bicycle/LICENSE.txt b/examples/pycram_bullet/gym/pybullet_data/bicycle/LICENSE.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/LICENSE.txt rename to examples/pycram_bullet/gym/pybullet_data/bicycle/LICENSE.txt diff --git a/examples/pybullet/gym/pybullet_data/bicycle/bike.urdf b/examples/pycram_bullet/gym/pybullet_data/bicycle/bike.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/bike.urdf rename to examples/pycram_bullet/gym/pybullet_data/bicycle/bike.urdf diff --git a/examples/pybullet/gym/pybullet_data/bicycle/files/all_pedal_parts.stl b/examples/pycram_bullet/gym/pybullet_data/bicycle/files/all_pedal_parts.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/files/all_pedal_parts.stl rename to examples/pycram_bullet/gym/pybullet_data/bicycle/files/all_pedal_parts.stl diff --git a/examples/pybullet/gym/pybullet_data/bicycle/files/bike_rack.stl b/examples/pycram_bullet/gym/pybullet_data/bicycle/files/bike_rack.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/files/bike_rack.stl rename to examples/pycram_bullet/gym/pybullet_data/bicycle/files/bike_rack.stl diff --git a/examples/pybullet/gym/pybullet_data/bicycle/files/frame_scaled.stl b/examples/pycram_bullet/gym/pybullet_data/bicycle/files/frame_scaled.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/files/frame_scaled.stl rename to examples/pycram_bullet/gym/pybullet_data/bicycle/files/frame_scaled.stl diff --git a/examples/pybullet/gym/pybullet_data/bicycle/files/frame_scaled_left.stl b/examples/pycram_bullet/gym/pybullet_data/bicycle/files/frame_scaled_left.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/files/frame_scaled_left.stl rename to examples/pycram_bullet/gym/pybullet_data/bicycle/files/frame_scaled_left.stl diff --git a/examples/pybullet/gym/pybullet_data/bicycle/files/frame_scaled_right.stl b/examples/pycram_bullet/gym/pybullet_data/bicycle/files/frame_scaled_right.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/files/frame_scaled_right.stl rename to examples/pycram_bullet/gym/pybullet_data/bicycle/files/frame_scaled_right.stl diff --git a/examples/pybullet/gym/pybullet_data/bicycle/files/handlebar_scaled.stl b/examples/pycram_bullet/gym/pybullet_data/bicycle/files/handlebar_scaled.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/files/handlebar_scaled.stl rename to examples/pycram_bullet/gym/pybullet_data/bicycle/files/handlebar_scaled.stl diff --git a/examples/pybullet/gym/pybullet_data/bicycle/files/wheel_axels.stl b/examples/pycram_bullet/gym/pybullet_data/bicycle/files/wheel_axels.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/files/wheel_axels.stl rename to examples/pycram_bullet/gym/pybullet_data/bicycle/files/wheel_axels.stl diff --git a/examples/pybullet/gym/pybullet_data/bicycle/files/wheel_scaled.stl b/examples/pycram_bullet/gym/pybullet_data/bicycle/files/wheel_scaled.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/bicycle/files/wheel_scaled.stl rename to examples/pycram_bullet/gym/pybullet_data/bicycle/files/wheel_scaled.stl diff --git a/examples/pybullet/gym/pybullet_data/biped/biped2d_pybullet.urdf b/examples/pycram_bullet/gym/pybullet_data/biped/biped2d_pybullet.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/biped/biped2d_pybullet.urdf rename to examples/pycram_bullet/gym/pybullet_data/biped/biped2d_pybullet.urdf diff --git a/examples/pybullet/gym/pybullet_data/block.urdf b/examples/pycram_bullet/gym/pybullet_data/block.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/block.urdf rename to examples/pycram_bullet/gym/pybullet_data/block.urdf diff --git a/examples/pybullet/gym/pybullet_data/bunny.obj b/examples/pycram_bullet/gym/pybullet_data/bunny.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/bunny.obj rename to examples/pycram_bullet/gym/pybullet_data/bunny.obj diff --git a/examples/pybullet/gym/pybullet_data/cartpole.urdf b/examples/pycram_bullet/gym/pybullet_data/cartpole.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/cartpole.urdf rename to examples/pycram_bullet/gym/pybullet_data/cartpole.urdf diff --git a/examples/pybullet/gym/pybullet_data/checker_blue.png b/examples/pycram_bullet/gym/pybullet_data/checker_blue.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/checker_blue.png rename to examples/pycram_bullet/gym/pybullet_data/checker_blue.png diff --git a/examples/pybullet/gym/pybullet_data/checker_grid.jpg b/examples/pycram_bullet/gym/pybullet_data/checker_grid.jpg similarity index 100% rename from examples/pybullet/gym/pybullet_data/checker_grid.jpg rename to examples/pycram_bullet/gym/pybullet_data/checker_grid.jpg diff --git a/examples/pybullet/gym/pybullet_data/checker_huge.gif b/examples/pycram_bullet/gym/pybullet_data/checker_huge.gif similarity index 100% rename from examples/pybullet/gym/pybullet_data/checker_huge.gif rename to examples/pycram_bullet/gym/pybullet_data/checker_huge.gif diff --git a/examples/pybullet/gym/pybullet_data/cloth_z_up.mtl b/examples/pycram_bullet/gym/pybullet_data/cloth_z_up.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/cloth_z_up.mtl rename to examples/pycram_bullet/gym/pybullet_data/cloth_z_up.mtl diff --git a/examples/pybullet/gym/pybullet_data/cloth_z_up.obj b/examples/pycram_bullet/gym/pybullet_data/cloth_z_up.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/cloth_z_up.obj rename to examples/pycram_bullet/gym/pybullet_data/cloth_z_up.obj diff --git a/examples/pybullet/gym/pybullet_data/cloth_z_up.urdf b/examples/pycram_bullet/gym/pybullet_data/cloth_z_up.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/cloth_z_up.urdf rename to examples/pycram_bullet/gym/pybullet_data/cloth_z_up.urdf diff --git a/examples/pybullet/gym/pybullet_data/colors16.png b/examples/pycram_bullet/gym/pybullet_data/colors16.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/colors16.png rename to examples/pycram_bullet/gym/pybullet_data/colors16.png diff --git a/examples/pybullet/gym/pybullet_data/configs/__init__.py b/examples/pycram_bullet/gym/pybullet_data/configs/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/configs/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/configs/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_gym_config.gin b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_gym_config.gin similarity index 96% rename from examples/pybullet/gym/pybullet_data/configs/laikago_gym_config.gin rename to examples/pycram_bullet/gym/pybullet_data/configs/laikago_gym_config.gin index 3a70956809..55c80034e3 100644 --- a/examples/pybullet/gym/pybullet_data/configs/laikago_gym_config.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_gym_config.gin @@ -1,5 +1,5 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.sensors.robot_sensors UPPER_BOUND = 6.28318548203 LOWER_BOUND = -6.28318548203 diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_gym_env.gin b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_gym_env.gin similarity index 93% rename from examples/pybullet/gym/pybullet_data/configs/laikago_gym_env.gin rename to examples/pycram_bullet/gym/pybullet_data/configs/laikago_gym_env.gin index 0b3b1ce95d..e334584c1c 100644 --- a/examples/pybullet/gym/pybullet_data/configs/laikago_gym_env.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_gym_env.gin @@ -1,7 +1,7 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.simple_scene -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.robots.laikago +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.simple_scene +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.robots.laikago URDF_ROOT = "urdf/" ABDUCTION_P_GAIN = 220.0 @@ -11,8 +11,8 @@ HIP_D_GAIN = 2.0 KNEE_P_GAIN = 220.0 KNEE_D_GAIN = 2.0 -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.sensors.robot_sensors UPPER_BOUND = 6.28318548203 LOWER_BOUND = -6.28318548203 diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_example_flat.gin b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_mpc_example_flat.gin similarity index 87% rename from examples/pybullet/gym/pybullet_data/configs/laikago_mpc_example_flat.gin rename to examples/pycram_bullet/gym/pybullet_data/configs/laikago_mpc_example_flat.gin index df735f43fb..dcaff636b1 100644 --- a/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_example_flat.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_mpc_example_flat.gin @@ -2,22 +2,22 @@ # NOTE: Should be run with >=10CPU for decent performance. -import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.simple_scene -import pybullet_envs.minitaur.envs_v2.sensors.camera_sensor -import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor -import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor -import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions -import pybullet_envs.minitaur.envs_v2.utilities.noise_generators -import pybullet_envs.minitaur.robots.hybrid_motor_model -import pybullet_envs.minitaur.robots.laikago_v2 -import pybullet_envs.minitaur.robots.robot_config +import pycram_bullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.simple_scene +import pycram_bullet_envs.minitaur.envs_v2.sensors.camera_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.imu_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.last_action_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.toe_position_sensor +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.envs_v2.tasks.terminal_conditions +import pycram_bullet_envs.minitaur.envs_v2.utilities.noise_generators +import pycram_bullet_envs.minitaur.robots.hybrid_motor_model +import pycram_bullet_envs.minitaur.robots.laikago_v2 +import pycram_bullet_envs.minitaur.robots.robot_config # Configure the dynamic robot diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_stepstone.gin b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_mpc_stepstone.gin similarity index 85% rename from examples/pybullet/gym/pybullet_data/configs/laikago_mpc_stepstone.gin rename to examples/pycram_bullet/gym/pybullet_data/configs/laikago_mpc_stepstone.gin index fa9ea31e60..f8eee9757f 100644 --- a/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_stepstone.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_mpc_stepstone.gin @@ -2,22 +2,22 @@ # NOTE: Should be run with >=10CPU for decent performance. -import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper -import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.random_stepstone_scene -import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor -import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor -import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions -import pybullet_envs.minitaur.envs_v2.utilities.noise_generators -import pybullet_envs.minitaur.robots.hybrid_motor_model -import pybullet_envs.minitaur.robots.laikago_v2 -import pybullet_envs.minitaur.robots.robot_config +import pycram_bullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.random_stepstone_scene +import pycram_bullet_envs.minitaur.envs_v2.sensors.imu_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.last_action_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.toe_position_sensor +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.envs_v2.tasks.terminal_conditions +import pycram_bullet_envs.minitaur.envs_v2.utilities.noise_generators +import pycram_bullet_envs.minitaur.robots.hybrid_motor_model +import pycram_bullet_envs.minitaur.robots.laikago_v2 +import pycram_bullet_envs.minitaur.robots.robot_config # Configure the dynamic robot diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_two_camera_random_stepstone.gin b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_mpc_two_camera_random_stepstone.gin similarity index 87% rename from examples/pybullet/gym/pybullet_data/configs/laikago_mpc_two_camera_random_stepstone.gin rename to examples/pycram_bullet/gym/pybullet_data/configs/laikago_mpc_two_camera_random_stepstone.gin index 9c916b8336..4a490ad937 100644 --- a/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_two_camera_random_stepstone.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_mpc_two_camera_random_stepstone.gin @@ -2,23 +2,23 @@ # NOTE: Should be run with >=10CPU for decent performance. -import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper -import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.random_stepstone_scene -import pybullet_envs.minitaur.envs_v2.sensors.camera_sensor -import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor -import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor -import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions -import pybullet_envs.minitaur.envs_v2.utilities.noise_generators -import pybullet_envs.minitaur.robots.hybrid_motor_model -import pybullet_envs.minitaur.robots.laikago_v2 -import pybullet_envs.minitaur.robots.robot_config +import pycram_bullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.random_stepstone_scene +import pycram_bullet_envs.minitaur.envs_v2.sensors.camera_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.imu_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.last_action_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.toe_position_sensor +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.envs_v2.tasks.terminal_conditions +import pycram_bullet_envs.minitaur.envs_v2.utilities.noise_generators +import pycram_bullet_envs.minitaur.robots.hybrid_motor_model +import pycram_bullet_envs.minitaur.robots.laikago_v2 +import pycram_bullet_envs.minitaur.robots.robot_config # Configure the dynamic robot diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_reactive.gin b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_reactive.gin similarity index 89% rename from examples/pybullet/gym/pybullet_data/configs/laikago_reactive.gin rename to examples/pycram_bullet/gym/pybullet_data/configs/laikago_reactive.gin index b4d6f8ba07..7e3c08385c 100644 --- a/examples/pybullet/gym/pybullet_data/configs/laikago_reactive.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_reactive.gin @@ -2,16 +2,16 @@ # NOTE: Should be run with >=10CPU for decent performance. -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper -import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop -import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.simple_scene -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.robots.laikago +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.simple_scene +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.robots.laikago URDF_ROOT = "urdf/" ABDUCTION_P_GAIN = 220.0 @@ -21,8 +21,8 @@ HIP_D_GAIN = 2.0 KNEE_P_GAIN = 220.0 KNEE_D_GAIN = 2.0 -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.sensors.robot_sensors UPPER_BOUND = 6.28318548203 LOWER_BOUND = -6.28318548203 diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_walk_static_gait.gin b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_walk_static_gait.gin similarity index 76% rename from examples/pybullet/gym/pybullet_data/configs/laikago_walk_static_gait.gin rename to examples/pycram_bullet/gym/pybullet_data/configs/laikago_walk_static_gait.gin index 2b6cd680d3..ffa209201b 100644 --- a/examples/pybullet/gym/pybullet_data/configs/laikago_walk_static_gait.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs/laikago_walk_static_gait.gin @@ -1,15 +1,15 @@ -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop -import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.simple_scene -import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor -import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.robots.hybrid_motor_model -import pybullet_envs.minitaur.robots.laikago_v2 -import pybullet_envs.minitaur.robots.robot_config +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.simple_scene +import pycram_bullet_envs.minitaur.envs_v2.sensors.imu_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.robots.hybrid_motor_model +import pycram_bullet_envs.minitaur.robots.laikago_v2 +import pycram_bullet_envs.minitaur.robots.robot_config # Specify the gym env parameters diff --git a/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_config.gin b/examples/pycram_bullet/gym/pybullet_data/configs/minitaur_gym_config.gin similarity index 82% rename from examples/pybullet/gym/pybullet_data/configs/minitaur_gym_config.gin rename to examples/pycram_bullet/gym/pybullet_data/configs/minitaur_gym_config.gin index 4b268980de..1c7db70e79 100644 --- a/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_config.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs/minitaur_gym_config.gin @@ -1,11 +1,11 @@ #-*-Python-*- -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor -import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor -import pybullet_envs.minitaur.robots.minitaur_motor_model_v2 -import pybullet_envs.minitaur.robots.minitaur_v2 -import pybullet_envs.minitaur.robots.robot_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.sensors.imu_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor +import pycram_bullet_envs.minitaur.robots.minitaur_motor_model_v2 +import pycram_bullet_envs.minitaur.robots.minitaur_v2 +import pycram_bullet_envs.minitaur.robots.robot_config UPPER_BOUND = 1.0 diff --git a/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_env.gin b/examples/pycram_bullet/gym/pybullet_data/configs/minitaur_gym_env.gin similarity index 74% rename from examples/pybullet/gym/pybullet_data/configs/minitaur_gym_env.gin rename to examples/pycram_bullet/gym/pybullet_data/configs/minitaur_gym_env.gin index 4b5140f0ff..4844efc541 100644 --- a/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_env.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs/minitaur_gym_env.gin @@ -1,19 +1,19 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.simple_scene -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.robots.minitaur_v2 -import pybullet_envs.minitaur.robots.robot_config -import pybullet_envs.minitaur.robots.robot_urdf_loader +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.simple_scene +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.robots.minitaur_v2 +import pycram_bullet_envs.minitaur.robots.robot_config +import pycram_bullet_envs.minitaur.robots.robot_urdf_loader URDF_ROOT = "urdf/" #-*-Python-*- -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor -import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor -import pybullet_envs.minitaur.robots.minitaur_motor_model_v2 -import pybullet_envs.minitaur.robots.minitaur_v2 -import pybullet_envs.minitaur.robots.robot_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.sensors.imu_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor +import pycram_bullet_envs.minitaur.robots.minitaur_motor_model_v2 +import pycram_bullet_envs.minitaur.robots.minitaur_v2 +import pycram_bullet_envs.minitaur.robots.robot_config UPPER_BOUND = 1.0 diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/__init__.py b/examples/pycram_bullet/gym/pybullet_data/configs_v2/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/configs_v2/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/base/__init__.py b/examples/pycram_bullet/gym/pybullet_data/configs_v2/base/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/configs_v2/base/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/base/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_reactive.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/base/laikago_reactive.gin similarity index 74% rename from examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_reactive.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/base/laikago_reactive.gin index 030bf4d8f3..5149721e39 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_reactive.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/base/laikago_reactive.gin @@ -1,19 +1,19 @@ -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper -import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop -import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.simple_scene -import pybullet_envs.minitaur.envs_v2.sensors.accelerometer_sensor -import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor -import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions -import pybullet_envs.minitaur.robots.hybrid_motor_model -import pybullet_envs.minitaur.robots.laikago_v2 -import pybullet_envs.minitaur.robots.time_ordered_buffer +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.simple_scene +import pycram_bullet_envs.minitaur.envs_v2.sensors.accelerometer_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.imu_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.envs_v2.tasks.terminal_conditions +import pycram_bullet_envs.minitaur.robots.hybrid_motor_model +import pycram_bullet_envs.minitaur.robots.laikago_v2 +import pycram_bullet_envs.minitaur.robots.time_ordered_buffer # Specify the gym env parameters diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_with_imu.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/base/laikago_with_imu.gin similarity index 76% rename from examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_with_imu.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/base/laikago_with_imu.gin index 03d7c33089..6c9e449be1 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_with_imu.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/base/laikago_with_imu.gin @@ -1,17 +1,17 @@ -#import pybullet_data -#MYPATH = pybullet_data.getDataPath()+'/configs_v2/robots/laikago.gin' -#MYPATH = 'D:/dev/bullet3/examples/pybullet\gym/pybullet_data/configs_v2/robots/laikago.gin' +#import pycram_bullet_data +#MYPATH = pycram_bullet_data.getDataPath()+'/configs_v2/robots/laikago.gin' +#MYPATH = 'D:/dev/bullet3/examples/pycram_bullet\gym/pycram_bullet_data/configs_v2/robots/laikago.gin' #include '$MYPATH/ambiguous.gin' -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.scene_base -import pybullet_envs.minitaur.envs_v2.scenes.simple_scene -import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor -import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor -import pybullet_envs.minitaur.robots.hybrid_motor_model -import pybullet_envs.minitaur.robots.laikago_v2 -import pybullet_envs.minitaur.robots.robot_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.scene_base +import pycram_bullet_envs.minitaur.envs_v2.scenes.simple_scene +import pycram_bullet_envs.minitaur.envs_v2.sensors.imu_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor +import pycram_bullet_envs.minitaur.robots.hybrid_motor_model +import pycram_bullet_envs.minitaur.robots.laikago_v2 +import pycram_bullet_envs.minitaur.robots.robot_config URDF_ROOT = "" UPPER_BOUND = 6.28318548203 diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/base/mini_cheetah_with_imu.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/base/mini_cheetah_with_imu.gin similarity index 91% rename from examples/pybullet/gym/pybullet_data/configs_v2/base/mini_cheetah_with_imu.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/base/mini_cheetah_with_imu.gin index d7ebe63f72..4f3e8ed2dc 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/base/mini_cheetah_with_imu.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/base/mini_cheetah_with_imu.gin @@ -1,4 +1,4 @@ -import pybullet_data as pd +import pycram_bullet_data as pd include pd.getDataPath()+'/configs_v2/robots/mini_cheetah.gin' include pd.getDataPath()+'/configs_v2/sensors/imu.gin' diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/robots/__init__.py b/examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/configs_v2/robots/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/robots/laikago.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/laikago.gin similarity index 81% rename from examples/pybullet/gym/pybullet_data/configs_v2/robots/laikago.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/laikago.gin index a639c83c9d..9573a6e4e1 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/robots/laikago.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/laikago.gin @@ -1,12 +1,12 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.scenes.scene_base -import pybullet_envs.minitaur.envs_v2.scenes.simple_scene -import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor -import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor -import pybullet_envs.minitaur.robots.hybrid_motor_model -import pybullet_envs.minitaur.robots.laikago_v2 -import pybullet_envs.minitaur.robots.robot_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.scene_base +import pycram_bullet_envs.minitaur.envs_v2.scenes.simple_scene +import pycram_bullet_envs.minitaur.envs_v2.sensors.imu_sensor +import pycram_bullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor +import pycram_bullet_envs.minitaur.robots.hybrid_motor_model +import pycram_bullet_envs.minitaur.robots.laikago_v2 +import pycram_bullet_envs.minitaur.robots.robot_config URDF_ROOT = "" UPPER_BOUND = 6.28318548203 diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/robots/mini_cheetah.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/mini_cheetah.gin similarity index 95% rename from examples/pybullet/gym/pybullet_data/configs_v2/robots/mini_cheetah.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/mini_cheetah.gin index 7433da2f85..1bc27db55a 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/robots/mini_cheetah.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/mini_cheetah.gin @@ -1,7 +1,7 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.robots.mini_cheetah -import pybullet_data as pd +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.robots.mini_cheetah +import pycram_bullet_data as pd URDF_ROOT = pd.getDataPath()+"/urdf/" diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/robots/minitaur.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/minitaur.gin similarity index 83% rename from examples/pybullet/gym/pybullet_data/configs_v2/robots/minitaur.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/minitaur.gin index 0914833800..5a524d9b46 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/robots/minitaur.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/robots/minitaur.gin @@ -1,7 +1,7 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_config -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.robots.minitaur_motor_model_v2 -import pybullet_envs.minitaur.robots.minitaur_v2 +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_config +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.robots.minitaur_motor_model_v2 +import pycram_bullet_envs.minitaur.robots.minitaur_v2 URDF_ROOT = "robotics/reinforcement_learning/minitaur/robots/data/urdf/" diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/scenes/__init__.py b/examples/pycram_bullet/gym/pybullet_data/configs_v2/scenes/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/configs_v2/scenes/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/scenes/__init__.py diff --git a/examples/pycram_bullet/gym/pybullet_data/configs_v2/scenes/simple_scene.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/scenes/simple_scene.gin new file mode 100644 index 0000000000..8b84e9913a --- /dev/null +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/scenes/simple_scene.gin @@ -0,0 +1,4 @@ +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.scenes.simple_scene + +locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene() diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/scenes/stair_scene.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/scenes/stair_scene.gin similarity index 69% rename from examples/pybullet/gym/pybullet_data/configs_v2/scenes/stair_scene.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/scenes/stair_scene.gin index 134f5774fd..42e8b43d53 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/scenes/stair_scene.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/scenes/stair_scene.gin @@ -1,3 +1,3 @@ -import pybullet_envs.minitaur.envs_v2.scenes.stair_scene +import pycram_bullet_envs.minitaur.envs_v2.scenes.stair_scene # Specify the scene (overwrite the setting from laikago_reactive.gin) locomotion_gym_env.LocomotionGymEnv.scene = @stair_scene.StairScene() diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/__init__.py b/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/configs_v2/tasks/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/__init__.py diff --git a/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task.gin new file mode 100644 index 0000000000..eeedbcaf4b --- /dev/null +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task.gin @@ -0,0 +1,4 @@ +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task + +locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask() diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin similarity index 67% rename from examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin index 59a50e4e71..f8cf14117f 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin @@ -1,5 +1,5 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask() diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination.gin similarity index 69% rename from examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination.gin index 5fc8189ca7..8278444ed2 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination.gin @@ -1,6 +1,6 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.envs_v2.tasks.terminal_conditions terminal_conditions.maxstep_terminal_condition.max_step = 1500 # Setup the terminal condition to not to terminate early when the robot falls. diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination_simplified.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination_simplified.gin similarity index 69% rename from examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination_simplified.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination_simplified.gin index c7d9630d55..ff13c62fe5 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination_simplified.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination_simplified.gin @@ -1,6 +1,6 @@ -import pybullet_envs.minitaur.envs_v2.locomotion_gym_env -import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task -import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions +import pycram_bullet_envs.minitaur.envs_v2.locomotion_gym_env +import pycram_bullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task +import pycram_bullet_envs.minitaur.envs_v2.tasks.terminal_conditions terminal_conditions.maxstep_terminal_condition.max_step = 1500 simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.default_terminal_condition_for_laikago_v2 diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/__init__.py b/examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/configs_v2/wrappers/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper.gin similarity index 77% rename from examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper.gin index f9466a3162..e6c187ee7e 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper.gin @@ -1,6 +1,6 @@ -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper -import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = True pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = 1 diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_dict.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_dict.gin similarity index 50% rename from examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_dict.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_dict.gin index 74251e31cf..25eb76356b 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_dict.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_dict.gin @@ -1,5 +1,5 @@ -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = True diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_laikago.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_laikago.gin similarity index 55% rename from examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_laikago.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_laikago.gin index 8f46b1591d..22564019fd 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_laikago.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_laikago.gin @@ -1,6 +1,6 @@ -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper -import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = True pmtg_wrapper_env.PmtgWrapperEnv.action_filter_high_cut = 0.5 diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_simplified_env.gin b/examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_simplified_env.gin similarity index 76% rename from examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_simplified_env.gin rename to examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_simplified_env.gin index f6736cb093..6f9f59e2fc 100644 --- a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_simplified_env.gin +++ b/examples/pycram_bullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_simplified_env.gin @@ -1,6 +1,6 @@ -import pybullet_envs.minitaur.envs_v2.env_loader -import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper -import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env +import pycram_bullet_envs.minitaur.envs_v2.env_loader +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper +import pycram_bullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env pmtg_wrapper_env.PmtgWrapperEnv.init_leg_phase_offsets = [0, 0.5, 0.5, 0] diff --git a/examples/pybullet/gym/pybullet_data/cube.obj b/examples/pycram_bullet/gym/pybullet_data/cube.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/cube.obj rename to examples/pycram_bullet/gym/pybullet_data/cube.obj diff --git a/examples/pybullet/gym/pybullet_data/cube.png b/examples/pycram_bullet/gym/pybullet_data/cube.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/cube.png rename to examples/pycram_bullet/gym/pybullet_data/cube.png diff --git a/examples/pybullet/gym/pybullet_data/cube.urdf b/examples/pycram_bullet/gym/pybullet_data/cube.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/cube.urdf rename to examples/pycram_bullet/gym/pybullet_data/cube.urdf diff --git a/examples/pybullet/gym/pybullet_data/cube_collisionfilter.urdf b/examples/pycram_bullet/gym/pybullet_data/cube_collisionfilter.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/cube_collisionfilter.urdf rename to examples/pycram_bullet/gym/pybullet_data/cube_collisionfilter.urdf diff --git a/examples/pybullet/gym/pybullet_data/cube_no_rotation.urdf b/examples/pycram_bullet/gym/pybullet_data/cube_no_rotation.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/cube_no_rotation.urdf rename to examples/pycram_bullet/gym/pybullet_data/cube_no_rotation.urdf diff --git a/examples/pybullet/gym/pybullet_data/cube_rotate.urdf b/examples/pycram_bullet/gym/pybullet_data/cube_rotate.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/cube_rotate.urdf rename to examples/pycram_bullet/gym/pybullet_data/cube_rotate.urdf diff --git a/examples/pybullet/gym/pybullet_data/cube_small.urdf b/examples/pycram_bullet/gym/pybullet_data/cube_small.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/cube_small.urdf rename to examples/pycram_bullet/gym/pybullet_data/cube_small.urdf diff --git a/examples/pybullet/gym/pybullet_data/data/agents/ct_agent_humanoid_ppo.txt b/examples/pycram_bullet/gym/pybullet_data/data/agents/ct_agent_humanoid_ppo.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/agents/ct_agent_humanoid_ppo.txt rename to examples/pycram_bullet/gym/pybullet_data/data/agents/ct_agent_humanoid_ppo.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_backflip.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_backflip.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_backflip.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_backflip.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_cartwheel.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_cartwheel.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_cartwheel.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_cartwheel.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_crawl.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_crawl.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_crawl.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_crawl.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_dance_a.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_dance_a.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_dance_a.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_dance_a.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_dance_b.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_dance_b.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_dance_b.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_dance_b.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_getup_facedown.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_getup_facedown.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_getup_facedown.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_getup_facedown.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_getup_faceup.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_getup_faceup.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_getup_faceup.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_getup_faceup.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_jump.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_jump.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_jump.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_jump.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_kick.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_kick.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_kick.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_kick.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_punch.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_punch.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_punch.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_punch.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_roll.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_roll.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_roll.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_roll.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_run.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_run.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_run.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_run.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_spin.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_spin.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_spin.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_spin.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_spinkick.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_spinkick.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_spinkick.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_spinkick.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_walk.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_walk.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_walk.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/humanoid3d_walk.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/laikago_walk.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/laikago_walk.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/laikago_walk.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/laikago_walk.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/walker/0walk_forward.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/walker/0walk_forward.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/walker/0walk_forward.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/walker/0walk_forward.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/walker/turn_left0.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/walker/turn_left0.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/walker/turn_left0.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/walker/turn_left0.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/walker/turn_left1.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/walker/turn_left1.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/walker/turn_left1.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/walker/turn_left1.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/walker/turn_right0.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/walker/turn_right0.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/walker/turn_right0.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/walker/turn_right0.txt diff --git a/examples/pybullet/gym/pybullet_data/data/motions/walker/turn_right1.txt b/examples/pycram_bullet/gym/pybullet_data/data/motions/walker/turn_right1.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/motions/walker/turn_right1.txt rename to examples/pycram_bullet/gym/pybullet_data/data/motions/walker/turn_right1.txt diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_backflip.ckpt.data-00000-of-00001 b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_backflip.ckpt.data-00000-of-00001 similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_backflip.ckpt.data-00000-of-00001 rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_backflip.ckpt.data-00000-of-00001 diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_backflip.ckpt.index b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_backflip.ckpt.index similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_backflip.ckpt.index rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_backflip.ckpt.index diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.data-00000-of-00001 b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.data-00000-of-00001 similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.data-00000-of-00001 rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.data-00000-of-00001 diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.index b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.index similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.index rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.index diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.data-00000-of-00001 b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.data-00000-of-00001 similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.data-00000-of-00001 rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.data-00000-of-00001 diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.index b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.index similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.index rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.index diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk.ckpt.data-00000-of-00001 b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk.ckpt.data-00000-of-00001 similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk.ckpt.data-00000-of-00001 rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk.ckpt.data-00000-of-00001 diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk.ckpt.index b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk.ckpt.index similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk.ckpt.index rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk.ckpt.index diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk_COMenabled.ckpt.data-00000-of-00001 b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk_COMenabled.ckpt.data-00000-of-00001 similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk_COMenabled.ckpt.data-00000-of-00001 rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk_COMenabled.ckpt.data-00000-of-00001 diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk_COMenabled.ckpt.index b/examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk_COMenabled.ckpt.index similarity index 100% rename from examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk_COMenabled.ckpt.index rename to examples/pycram_bullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_walk_COMenabled.ckpt.index diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_arm.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_arm.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_arm.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_arm.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_carrier.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_carrier.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_carrier.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_carrier.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_carrier_cover.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_carrier_cover.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_carrier_cover.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_carrier_cover.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_leftshaft.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_leftshaft.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_leftshaft.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_leftshaft.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_motor_cover.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_motor_cover.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_motor_cover.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_motor_cover.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_pinion.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_pinion.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_pinion.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_pinion.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_rightshaft.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_rightshaft.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_rightshaft.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_rightshaft.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_ring.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_ring.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_ring.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_ring.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_ring.urdf b/examples/pycram_bullet/gym/pybullet_data/differential/diff_ring.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_ring.urdf rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_ring.urdf diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_side.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_side.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_side.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_side.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_spider.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_spider.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_spider.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_spider.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_spider_shaft.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_spider_shaft.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_spider_shaft.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_spider_shaft.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/diff_stand.stl b/examples/pycram_bullet/gym/pybullet_data/differential/diff_stand.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/diff_stand.stl rename to examples/pycram_bullet/gym/pybullet_data/differential/diff_stand.stl diff --git a/examples/pybullet/gym/pybullet_data/differential/modelorigin.txt b/examples/pycram_bullet/gym/pybullet_data/differential/modelorigin.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/differential/modelorigin.txt rename to examples/pycram_bullet/gym/pybullet_data/differential/modelorigin.txt diff --git a/examples/pybullet/gym/pybullet_data/domino/domino.jpg b/examples/pycram_bullet/gym/pybullet_data/domino/domino.jpg similarity index 100% rename from examples/pybullet/gym/pybullet_data/domino/domino.jpg rename to examples/pycram_bullet/gym/pybullet_data/domino/domino.jpg diff --git a/examples/pybullet/gym/pybullet_data/domino/domino.mtl b/examples/pycram_bullet/gym/pybullet_data/domino/domino.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/domino/domino.mtl rename to examples/pycram_bullet/gym/pybullet_data/domino/domino.mtl diff --git a/examples/pybullet/gym/pybullet_data/domino/domino.obj b/examples/pycram_bullet/gym/pybullet_data/domino/domino.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/domino/domino.obj rename to examples/pycram_bullet/gym/pybullet_data/domino/domino.obj diff --git a/examples/pybullet/gym/pybullet_data/domino/domino.urdf b/examples/pycram_bullet/gym/pybullet_data/domino/domino.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/domino/domino.urdf rename to examples/pycram_bullet/gym/pybullet_data/domino/domino.urdf diff --git a/examples/pybullet/gym/pybullet_data/domino/license.txt b/examples/pycram_bullet/gym/pybullet_data/domino/license.txt similarity index 86% rename from examples/pybullet/gym/pybullet_data/domino/license.txt rename to examples/pycram_bullet/gym/pybullet_data/domino/license.txt index bd3b1943fe..01fc0627fd 100644 --- a/examples/pybullet/gym/pybullet_data/domino/license.txt +++ b/examples/pycram_bullet/gym/pybullet_data/domino/license.txt @@ -5,6 +5,6 @@ If you use the model, add a citation to PyBullet: @MISC{coumans2018, 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--2019} } diff --git a/examples/pybullet/gym/pybullet_data/duck.dae b/examples/pycram_bullet/gym/pybullet_data/duck.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/duck.dae rename to examples/pycram_bullet/gym/pybullet_data/duck.dae diff --git a/examples/pybullet/gym/pybullet_data/duck.mtl b/examples/pycram_bullet/gym/pybullet_data/duck.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/duck.mtl rename to examples/pycram_bullet/gym/pybullet_data/duck.mtl diff --git a/examples/pybullet/gym/pybullet_data/duck.obj b/examples/pycram_bullet/gym/pybullet_data/duck.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/duck.obj rename to examples/pycram_bullet/gym/pybullet_data/duck.obj diff --git a/examples/pybullet/gym/pybullet_data/duckCM.png b/examples/pycram_bullet/gym/pybullet_data/duckCM.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/duckCM.png rename to examples/pycram_bullet/gym/pybullet_data/duckCM.png diff --git a/examples/pybullet/gym/pybullet_data/duck_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/duck_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/duck_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/duck_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/duck_vhacd.urdf b/examples/pycram_bullet/gym/pybullet_data/duck_vhacd.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/duck_vhacd.urdf rename to examples/pycram_bullet/gym/pybullet_data/duck_vhacd.urdf diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/LICENSE.txt b/examples/pycram_bullet/gym/pybullet_data/franka_panda/LICENSE.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/LICENSE.txt rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/LICENSE.txt diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link0.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link0.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link0.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link0.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link1.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link1.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link1.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link1.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link2.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link2.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link2.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link2.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link3.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link3.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link3.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link3.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link4.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link4.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link4.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link4.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link5.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link5.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link5.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link5.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl similarity index 89% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl index 19918db170..d395196b75 100644 --- a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl +++ b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl @@ -40,7 +40,7 @@ Ke 0.000000 0.000000 0.000000 Ni 1.000000 d 1.000000 illum 2 -map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png +map_Kd D:\dev\pycram_bullet_robots\data\franka_panda\meshes\visual\colors.png newmtl Part__Feature001_009_001_002_001.001 Ns -1.960784 @@ -51,7 +51,7 @@ Ke 0.000000 0.000000 0.000000 Ni 1.000000 d 1.000000 illum 2 -map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png +map_Kd D:\dev\pycram_bullet_robots\data\franka_panda\meshes\visual\colors.png newmtl Part__Feature002_006_001_002_001.001 Ns -1.960784 @@ -62,7 +62,7 @@ Ke 0.000000 0.000000 0.000000 Ni 1.000000 d 1.000000 illum 2 -map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png +map_Kd D:\dev\pycram_bullet_robots\data\franka_panda\meshes\visual\colors.png newmtl Shell002_002_001_002_001.001 Ns -1.960784 @@ -143,7 +143,7 @@ Ke 0.000000 0.000000 0.000000 Ni 1.000000 d 1.000000 illum 2 -map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png +map_Kd D:\dev\pycram_bullet_robots\data\franka_panda\meshes\visual\colors.png newmtl Shell_003_001_002_001.001 Ns -1.960784 @@ -154,7 +154,7 @@ Ke 0.000000 0.000000 0.000000 Ni 1.000000 d 1.000000 illum 2 -map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png +map_Kd D:\dev\pycram_bullet_robots\data\franka_panda\meshes\visual\colors.png newmtl Union001_001_001_002_001.001 Ns -1.960784 diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link6.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link6.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link7.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link7.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link7.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/collision/link7.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/colors.png b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/colors.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/colors.png rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/colors.png diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/finger.mtl b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/finger.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/finger.mtl rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/finger.mtl diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/finger.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/finger.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/finger.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/finger.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/hand.mtl b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/hand.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/hand.mtl rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/hand.mtl diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/hand.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/hand.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/hand.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/hand.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link1.mtl b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link1.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link1.mtl rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link1.mtl diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link1.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link1.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link1.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link1.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.mtl b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link2.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.mtl rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link2.mtl diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link2.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link2.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.mtl b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link3.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.mtl rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link3.mtl diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link3.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link3.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link4.mtl b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link4.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link4.mtl rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link4.mtl diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link4.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link4.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link4.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link4.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.mtl b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link5.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.mtl rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link5.mtl diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link5.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link5.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.mtl b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link6.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.mtl rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link6.mtl diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.obj b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link6.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.obj rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/link6.obj diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/visualShapeBench.json_0.json b/examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/visualShapeBench.json_0.json similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/visualShapeBench.json_0.json rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/meshes/visual/visualShapeBench.json_0.json diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf b/examples/pycram_bullet/gym/pybullet_data/franka_panda/panda.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf rename to examples/pycram_bullet/gym/pybullet_data/franka_panda/panda.urdf diff --git a/examples/pybullet/gym/pybullet_data/gripper/meshes/GUIDE_WSG50_110.stl b/examples/pycram_bullet/gym/pybullet_data/gripper/meshes/GUIDE_WSG50_110.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/meshes/GUIDE_WSG50_110.stl rename to examples/pycram_bullet/gym/pybullet_data/gripper/meshes/GUIDE_WSG50_110.stl diff --git a/examples/pybullet/gym/pybullet_data/gripper/meshes/WSG-FMF.stl b/examples/pycram_bullet/gym/pybullet_data/gripper/meshes/WSG-FMF.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/meshes/WSG-FMF.stl rename to examples/pycram_bullet/gym/pybullet_data/gripper/meshes/WSG-FMF.stl diff --git a/examples/pybullet/gym/pybullet_data/gripper/meshes/WSG50_110.stl b/examples/pycram_bullet/gym/pybullet_data/gripper/meshes/WSG50_110.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/meshes/WSG50_110.stl rename to examples/pycram_bullet/gym/pybullet_data/gripper/meshes/WSG50_110.stl diff --git a/examples/pybullet/gym/pybullet_data/gripper/meshes/l_gripper_tip_scaled.stl b/examples/pycram_bullet/gym/pybullet_data/gripper/meshes/l_gripper_tip_scaled.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/meshes/l_gripper_tip_scaled.stl rename to examples/pycram_bullet/gym/pybullet_data/gripper/meshes/l_gripper_tip_scaled.stl diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf b/examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf rename to examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf b/examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf rename to examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_left_finger.urdf b/examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_left_finger.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_left_finger.urdf rename to examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_left_finger.urdf diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf b/examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf rename to examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf b/examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf rename to examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf b/examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf rename to examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_right_finger.urdf b/examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_right_finger.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_right_finger.urdf rename to examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_right_finger.urdf diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf b/examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf rename to examples/pycram_bullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/Image8x4.png b/examples/pycram_bullet/gym/pybullet_data/heightmaps/Image8x4.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/heightmaps/Image8x4.png rename to examples/pycram_bullet/gym/pybullet_data/heightmaps/Image8x4.png diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/Maze.png b/examples/pycram_bullet/gym/pybullet_data/heightmaps/Maze.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/heightmaps/Maze.png rename to examples/pycram_bullet/gym/pybullet_data/heightmaps/Maze.png diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/gimp_overlay_out.png b/examples/pycram_bullet/gym/pybullet_data/heightmaps/gimp_overlay_out.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/heightmaps/gimp_overlay_out.png rename to examples/pycram_bullet/gym/pybullet_data/heightmaps/gimp_overlay_out.png diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/ground0.txt b/examples/pycram_bullet/gym/pybullet_data/heightmaps/ground0.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/heightmaps/ground0.txt rename to examples/pycram_bullet/gym/pybullet_data/heightmaps/ground0.txt diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/ground1.txt b/examples/pycram_bullet/gym/pybullet_data/heightmaps/ground1.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/heightmaps/ground1.txt rename to examples/pycram_bullet/gym/pybullet_data/heightmaps/ground1.txt diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/ground2.txt b/examples/pycram_bullet/gym/pybullet_data/heightmaps/ground2.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/heightmaps/ground2.txt rename to examples/pycram_bullet/gym/pybullet_data/heightmaps/ground2.txt diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/readme.txt b/examples/pycram_bullet/gym/pybullet_data/heightmaps/readme.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/heightmaps/readme.txt rename to examples/pycram_bullet/gym/pybullet_data/heightmaps/readme.txt diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/wm_height_out.png b/examples/pycram_bullet/gym/pybullet_data/heightmaps/wm_height_out.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/heightmaps/wm_height_out.png rename to examples/pycram_bullet/gym/pybullet_data/heightmaps/wm_height_out.png diff --git a/examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf b/examples/pycram_bullet/gym/pybullet_data/humanoid/humanoid.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf rename to examples/pycram_bullet/gym/pybullet_data/humanoid/humanoid.urdf diff --git a/examples/pybullet/gym/pybullet_data/husky/husky.urdf b/examples/pycram_bullet/gym/pybullet_data/husky/husky.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/husky/husky.urdf rename to examples/pycram_bullet/gym/pybullet_data/husky/husky.urdf diff --git a/examples/pybullet/gym/pybullet_data/husky/meshes/base_link.stl b/examples/pycram_bullet/gym/pybullet_data/husky/meshes/base_link.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/husky/meshes/base_link.stl rename to examples/pycram_bullet/gym/pybullet_data/husky/meshes/base_link.stl diff --git a/examples/pybullet/gym/pybullet_data/husky/meshes/bumper.stl b/examples/pycram_bullet/gym/pybullet_data/husky/meshes/bumper.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/husky/meshes/bumper.stl rename to examples/pycram_bullet/gym/pybullet_data/husky/meshes/bumper.stl diff --git a/examples/pybullet/gym/pybullet_data/husky/meshes/top_plate.stl b/examples/pycram_bullet/gym/pybullet_data/husky/meshes/top_plate.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/husky/meshes/top_plate.stl rename to examples/pycram_bullet/gym/pybullet_data/husky/meshes/top_plate.stl diff --git a/examples/pybullet/gym/pybullet_data/husky/meshes/user_rail.stl b/examples/pycram_bullet/gym/pybullet_data/husky/meshes/user_rail.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/husky/meshes/user_rail.stl rename to examples/pycram_bullet/gym/pybullet_data/husky/meshes/user_rail.stl diff --git a/examples/pybullet/gym/pybullet_data/husky/meshes/wheel.stl b/examples/pycram_bullet/gym/pybullet_data/husky/meshes/wheel.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/husky/meshes/wheel.stl rename to examples/pycram_bullet/gym/pybullet_data/husky/meshes/wheel.stl diff --git a/examples/pybullet/gym/pybullet_data/jenga/jenga.mtl b/examples/pycram_bullet/gym/pybullet_data/jenga/jenga.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/jenga/jenga.mtl rename to examples/pycram_bullet/gym/pybullet_data/jenga/jenga.mtl diff --git a/examples/pybullet/gym/pybullet_data/jenga/jenga.obj b/examples/pycram_bullet/gym/pybullet_data/jenga/jenga.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/jenga/jenga.obj rename to examples/pycram_bullet/gym/pybullet_data/jenga/jenga.obj diff --git a/examples/pybullet/gym/pybullet_data/jenga/jenga.png b/examples/pycram_bullet/gym/pybullet_data/jenga/jenga.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/jenga/jenga.png rename to examples/pycram_bullet/gym/pybullet_data/jenga/jenga.png diff --git a/examples/pybullet/gym/pybullet_data/jenga/jenga.urdf b/examples/pycram_bullet/gym/pybullet_data/jenga/jenga.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/jenga/jenga.urdf rename to examples/pycram_bullet/gym/pybullet_data/jenga/jenga.urdf diff --git a/examples/pybullet/gym/pybullet_data/kiva_shelf/meshes/pod_lowres.stl b/examples/pycram_bullet/gym/pybullet_data/kiva_shelf/meshes/pod_lowres.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kiva_shelf/meshes/pod_lowres.stl rename to examples/pycram_bullet/gym/pybullet_data/kiva_shelf/meshes/pod_lowres.stl diff --git a/examples/pybullet/gym/pybullet_data/kiva_shelf/model.sdf b/examples/pycram_bullet/gym/pybullet_data/kiva_shelf/model.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kiva_shelf/model.sdf rename to examples/pycram_bullet/gym/pybullet_data/kiva_shelf/model.sdf diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/finger_base_left.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/finger_base_left.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/finger_base_left.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/finger_base_left.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/finger_base_right.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/finger_base_right.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/finger_base_right.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/finger_base_right.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/finger_tip_left.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/finger_tip_left.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/finger_tip_left.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/finger_tip_left.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/finger_tip_right.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/finger_tip_right.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/finger_tip_right.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/finger_tip_right.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.mtl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.mtl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.mtl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.obj b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.obj rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.obj diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_0.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.mtl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.mtl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.mtl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.obj b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.obj rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.obj diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_1.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.mtl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.mtl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.mtl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.obj b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.obj rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.obj diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_2.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.mtl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.mtl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.mtl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.obj b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.obj rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.obj diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_3.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.mtl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.mtl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.mtl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.obj b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.obj rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.obj diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_4.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.mtl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.mtl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.mtl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.obj b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.obj rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.obj diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_5.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.mtl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.mtl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.mtl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.obj b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.obj rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.obj diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_6.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.mtl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.mtl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.mtl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.obj b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.obj rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.obj diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.stl b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.stl rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/meshes/link_7.stl diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model.sdf diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.urdf b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/model.urdf rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model.urdf diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model2.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model2.sdf diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model_for_sdf.urdf b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model_for_sdf.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/model_for_sdf.urdf rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model_for_sdf.urdf diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model_free_base.urdf b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model_free_base.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/model_free_base.urdf rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model_free_base.urdf diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model_vr_limits.urdf b/examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model_vr_limits.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/kuka_iiwa/model_vr_limits.urdf rename to examples/pycram_bullet/gym/pybullet_data/kuka_iiwa/model_vr_limits.urdf diff --git a/examples/pybullet/gym/pybullet_data/l_finger.stl b/examples/pycram_bullet/gym/pybullet_data/l_finger.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/l_finger.stl rename to examples/pycram_bullet/gym/pybullet_data/l_finger.stl diff --git a/examples/pybullet/gym/pybullet_data/l_finger_collision.stl b/examples/pycram_bullet/gym/pybullet_data/l_finger_collision.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/l_finger_collision.stl rename to examples/pycram_bullet/gym/pybullet_data/l_finger_collision.stl diff --git a/examples/pybullet/gym/pybullet_data/l_finger_tip.stl b/examples/pycram_bullet/gym/pybullet_data/l_finger_tip.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/l_finger_tip.stl rename to examples/pycram_bullet/gym/pybullet_data/l_finger_tip.stl diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.stl b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis.stl rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis.stl diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_mod.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis_mod.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis_mod.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis_mod.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_mod.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis_mod.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis_mod.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis_mod.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis_zup.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis_zup.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis_zup.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis_zup.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/chassis_zup_lores.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/chassis_zup_lores.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/data1.txt b/examples/pycram_bullet/gym/pybullet_data/laikago/data1.txt similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/data1.txt rename to examples/pycram_bullet/gym/pybullet_data/laikago/data1.txt diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/hip_motor.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor.stl b/examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/hip_motor.stl rename to examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor.stl diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_lores.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_lores.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/hip_motor_lores.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_lores.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_mirror.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_mirror.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_mirror.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_mirror.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.stl b/examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_mirror.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.stl rename to examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_mirror.stl diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago.py b/examples/pycram_bullet/gym/pybullet_data/laikago/laikago.py similarity index 99% rename from examples/pybullet/gym/pybullet_data/laikago/laikago.py rename to examples/pycram_bullet/gym/pybullet_data/laikago/laikago.py index 149c67714c..d41605f276 100644 --- a/examples/pybullet/gym/pybullet_data/laikago/laikago.py +++ b/examples/pycram_bullet/gym/pybullet_data/laikago/laikago.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p import time p.connect(p.GUI) diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf b/examples/pycram_bullet/gym/pybullet_data/laikago/laikago.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/laikago.urdf rename to examples/pycram_bullet/gym/pybullet_data/laikago/laikago.urdf diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_tex.jpg b/examples/pycram_bullet/gym/pybullet_data/laikago/laikago_tex.jpg similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/laikago_tex.jpg rename to examples/pycram_bullet/gym/pybullet_data/laikago/laikago_tex.jpg diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf b/examples/pycram_bullet/gym/pybullet_data/laikago/laikago_toes.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf rename to examples/pycram_bullet/gym/pybullet_data/laikago/laikago_toes.urdf diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_limits.urdf b/examples/pycram_bullet/gym/pybullet_data/laikago/laikago_toes_limits.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/laikago_toes_limits.urdf rename to examples/pycram_bullet/gym/pybullet_data/laikago/laikago_toes_limits.urdf diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf b/examples/pycram_bullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf rename to examples/pycram_bullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf b/examples/pycram_bullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf rename to examples/pycram_bullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf diff --git a/examples/pybullet/gym/pybullet_data/laikago/license.txt b/examples/pycram_bullet/gym/pybullet_data/laikago/license.txt similarity index 87% rename from examples/pybullet/gym/pybullet_data/laikago/license.txt rename to examples/pycram_bullet/gym/pybullet_data/laikago/license.txt index ac9f3b75fd..a11e0614a0 100644 --- a/examples/pybullet/gym/pybullet_data/laikago/license.txt +++ b/examples/pycram_bullet/gym/pybullet_data/laikago/license.txt @@ -6,7 +6,7 @@ If you use the model, add a citation to PyBullet: @MISC{coumans2018, 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--2018} } diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg3.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg3.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg3.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg3.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg3_lores.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg3_lores.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg_3.stl b/examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg_3.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/lower_leg_3.stl rename to examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg_3.stl diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg_3_collision.stl b/examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg_3_collision.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/lower_leg_3_collision.stl rename to examples/pycram_bullet/gym/pybullet_data/laikago/lower_leg_3_collision.stl diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg.stl b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg.stl rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg.stl diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left2.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left2.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left2.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left2.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.stl b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.stl rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror.stl diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror2.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror2.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror2.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror2.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_right.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_right.mtl diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_right.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_right.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/lego/lego.obj b/examples/pycram_bullet/gym/pybullet_data/lego/lego.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/lego/lego.obj rename to examples/pycram_bullet/gym/pybullet_data/lego/lego.obj diff --git a/examples/pybullet/gym/pybullet_data/lego/lego.urdf b/examples/pycram_bullet/gym/pybullet_data/lego/lego.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/lego/lego.urdf rename to examples/pycram_bullet/gym/pybullet_data/lego/lego.urdf diff --git a/examples/pybullet/gym/pybullet_data/lego/lego_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/lego/lego_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/lego/lego_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/lego/lego_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_abad.obj b/examples/pycram_bullet/gym/pybullet_data/mini_cheetah/meshes/mini_abad.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_abad.obj rename to examples/pycram_bullet/gym/pybullet_data/mini_cheetah/meshes/mini_abad.obj diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_body.obj b/examples/pycram_bullet/gym/pybullet_data/mini_cheetah/meshes/mini_body.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_body.obj rename to examples/pycram_bullet/gym/pybullet_data/mini_cheetah/meshes/mini_body.obj diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj b/examples/pycram_bullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj rename to examples/pycram_bullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_upper_link.obj b/examples/pycram_bullet/gym/pybullet_data/mini_cheetah/meshes/mini_upper_link.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_upper_link.obj rename to examples/pycram_bullet/gym/pybullet_data/mini_cheetah/meshes/mini_upper_link.obj diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf b/examples/pycram_bullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf rename to examples/pycram_bullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf diff --git a/examples/pybullet/gym/pybullet_data/mjcf/ant.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/ant.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/ant.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/ant.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/capsule.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/capsule.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/capsule.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/capsule.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/capsule_fromtoX.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/capsule_fromtoX.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/capsule_fromtoX.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/capsule_fromtoX.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/capsule_fromtoY.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/capsule_fromtoY.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/capsule_fromtoY.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/capsule_fromtoY.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/capsule_fromtoZ.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/capsule_fromtoZ.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/capsule_fromtoZ.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/capsule_fromtoZ.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/cylinder.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/cylinder.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/cylinder.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/cylinder.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/cylinder_fromtoX.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/cylinder_fromtoX.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/cylinder_fromtoX.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/cylinder_fromtoX.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/cylinder_fromtoY.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/cylinder_fromtoY.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/cylinder_fromtoY.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/cylinder_fromtoY.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/cylinder_fromtoZ.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/cylinder_fromtoZ.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/cylinder_fromtoZ.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/cylinder_fromtoZ.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/ground.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/ground.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/ground.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/ground.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/ground_plane.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/ground_plane.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/ground_plane.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/ground_plane.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/half_cheetah.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/half_cheetah.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/half_cheetah.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/half_cheetah.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/hello_mjcf.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/hello_mjcf.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/hello_mjcf.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/hello_mjcf.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/hopper.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/hopper.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/hopper.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/hopper.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/humanoid.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/humanoid.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/humanoid.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/humanoid.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/humanoid_fixed.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/humanoid_fixed.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/humanoid_fixed.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/humanoid_fixed.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/humanoid_symmetric.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/humanoid_symmetric.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/humanoid_symmetric.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/humanoid_symmetric.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/humanoid_symmetric_no_ground.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/humanoid_symmetric_no_ground.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/humanoid_symmetric_no_ground.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/humanoid_symmetric_no_ground.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/inverted_double_pendulum.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/inverted_double_pendulum.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/inverted_double_pendulum.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/inverted_double_pendulum.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/inverted_pendulum.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/inverted_pendulum.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/inverted_pendulum.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/inverted_pendulum.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/pusher.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/pusher.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/pusher.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/pusher.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/reacher.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/reacher.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/reacher.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/reacher.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/striker.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/striker.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/striker.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/striker.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/swimmer.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/swimmer.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/swimmer.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/swimmer.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/thrower.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/thrower.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/thrower.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/thrower.xml diff --git a/examples/pybullet/gym/pybullet_data/mjcf/walker2d.xml b/examples/pycram_bullet/gym/pybullet_data/mjcf/walker2d.xml similarity index 100% rename from examples/pybullet/gym/pybullet_data/mjcf/walker2d.xml rename to examples/pycram_bullet/gym/pybullet_data/mjcf/walker2d.xml diff --git a/examples/pybullet/gym/pybullet_data/objects/mug.obj b/examples/pycram_bullet/gym/pybullet_data/objects/mug.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/objects/mug.obj rename to examples/pycram_bullet/gym/pybullet_data/objects/mug.obj diff --git a/examples/pybullet/gym/pybullet_data/objects/mug.urdf b/examples/pycram_bullet/gym/pybullet_data/objects/mug.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/objects/mug.urdf rename to examples/pycram_bullet/gym/pybullet_data/objects/mug.urdf diff --git a/examples/pybullet/gym/pybullet_data/objects/mug_col.obj b/examples/pycram_bullet/gym/pybullet_data/objects/mug_col.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/objects/mug_col.obj rename to examples/pycram_bullet/gym/pybullet_data/objects/mug_col.obj diff --git a/examples/pybullet/gym/pybullet_data/pendulum5.urdf b/examples/pycram_bullet/gym/pybullet_data/pendulum5.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/pendulum5.urdf rename to examples/pycram_bullet/gym/pybullet_data/pendulum5.urdf diff --git a/examples/pybullet/gym/pybullet_data/pickup2.zip b/examples/pycram_bullet/gym/pybullet_data/pickup2.zip similarity index 100% rename from examples/pybullet/gym/pybullet_data/pickup2.zip rename to examples/pycram_bullet/gym/pybullet_data/pickup2.zip diff --git a/examples/pybullet/gym/pybullet_data/plane.mtl b/examples/pycram_bullet/gym/pybullet_data/plane.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane.mtl rename to examples/pycram_bullet/gym/pybullet_data/plane.mtl diff --git a/examples/pybullet/gym/pybullet_data/plane.obj b/examples/pycram_bullet/gym/pybullet_data/plane.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane.obj rename to examples/pycram_bullet/gym/pybullet_data/plane.obj diff --git a/examples/pybullet/gym/pybullet_data/plane.urdf b/examples/pycram_bullet/gym/pybullet_data/plane.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane.urdf rename to examples/pycram_bullet/gym/pybullet_data/plane.urdf diff --git a/examples/pybullet/gym/pybullet_data/plane100.obj b/examples/pycram_bullet/gym/pybullet_data/plane100.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane100.obj rename to examples/pycram_bullet/gym/pybullet_data/plane100.obj diff --git a/examples/pybullet/gym/pybullet_data/plane100.urdf b/examples/pycram_bullet/gym/pybullet_data/plane100.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane100.urdf rename to examples/pycram_bullet/gym/pybullet_data/plane100.urdf diff --git a/examples/pybullet/gym/pybullet_data/plane_implicit.urdf b/examples/pycram_bullet/gym/pybullet_data/plane_implicit.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane_implicit.urdf rename to examples/pycram_bullet/gym/pybullet_data/plane_implicit.urdf diff --git a/examples/pybullet/gym/pybullet_data/plane_stadium.sdf b/examples/pycram_bullet/gym/pybullet_data/plane_stadium.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane_stadium.sdf rename to examples/pycram_bullet/gym/pybullet_data/plane_stadium.sdf diff --git a/examples/pybullet/gym/pybullet_data/plane_transparent.mtl b/examples/pycram_bullet/gym/pybullet_data/plane_transparent.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane_transparent.mtl rename to examples/pycram_bullet/gym/pybullet_data/plane_transparent.mtl diff --git a/examples/pybullet/gym/pybullet_data/plane_transparent.obj b/examples/pycram_bullet/gym/pybullet_data/plane_transparent.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane_transparent.obj rename to examples/pycram_bullet/gym/pybullet_data/plane_transparent.obj diff --git a/examples/pybullet/gym/pybullet_data/plane_transparent.urdf b/examples/pycram_bullet/gym/pybullet_data/plane_transparent.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/plane_transparent.urdf rename to examples/pycram_bullet/gym/pybullet_data/plane_transparent.urdf diff --git a/examples/pybullet/gym/pybullet_data/policies/__init__.py b/examples/pycram_bullet/gym/pybullet_data/policies/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/policies/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/__init__.py b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/ppo/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/__init__.py b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/config.yaml b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/config.yaml similarity index 76% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/config.yaml rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/config.yaml index a2e6baedde..d732a612fe 100644 --- a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/config.yaml +++ b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/config.yaml @@ -1,10 +1,10 @@ -!!python/object/new:pybullet_envs.minitaur.agents.tools.attr_dict.AttrDict +!!python/object/new:pycram_bullet_envs.minitaur.agents.tools.attr_dict.AttrDict dictitems: - algorithm: !!python/name:pybullet_envs.minitaur.agents.ppo.algorithm.PPOAlgorithm '' + algorithm: !!python/name:pycram_bullet_envs.minitaur.agents.ppo.algorithm.PPOAlgorithm '' discount: 0.9868209124499899 env: !!python/object/apply:functools.partial args: - - &id001 !!python/name:pybullet_envs.minitaur.envs.minitaur_reactive_env.MinitaurReactiveEnv '' + - &id001 !!python/name:pycram_bullet_envs.minitaur.envs.minitaur_reactive_env.MinitaurReactiveEnv '' state: !!python/tuple - *id001 - !!python/tuple [] @@ -28,7 +28,7 @@ dictitems: kl_target: 0.01 logdir: /cns/ij-d/home/jietan/experiment/minitaur_vizier_study_ppo/minreact_nonexp_nr_02_186515603_186518344/333 max_length: 1000 - network: !!python/name:pybullet_envs.minitaur.agents.scripts.networks.ForwardGaussianPolicy '' + network: !!python/name:pycram_bullet_envs.minitaur.agents.scripts.networks.ForwardGaussianPolicy '' network_config: {} num_agents: 25 policy_layers: !!python/tuple diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.data-00000-of-00001 b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.data-00000-of-00001 similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.data-00000-of-00001 rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.data-00000-of-00001 diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.index b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.index similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.index rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.index diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.meta b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.meta similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.meta rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_reactive_env/model.ckpt-14000000.meta diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/__init__.py b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/config.yaml b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/config.yaml similarity index 75% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/config.yaml rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/config.yaml index 232150020d..726a640e1b 100644 --- a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/config.yaml +++ b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/config.yaml @@ -1,10 +1,10 @@ -!!python/object/new:pybullet_envs.minitaur.agents.tools.attr_dict.AttrDict +!!python/object/new:pycram_bullet_envs.minitaur.agents.tools.attr_dict.AttrDict dictitems: - algorithm: !!python/name:pybullet_envs.minitaur.agents.ppo.algorithm.PPOAlgorithm '' + algorithm: !!python/name:pycram_bullet_envs.minitaur.agents.ppo.algorithm.PPOAlgorithm '' discount: 0.9899764168788918 env: !!python/object/apply:functools.partial args: - - &id001 !!python/name:pybullet_envs.minitaur.envs.minitaur_trotting_env.MinitaurTrottingEnv '' + - &id001 !!python/name:pycram_bullet_envs.minitaur.envs.minitaur_trotting_env.MinitaurTrottingEnv '' state: !!python/tuple - *id001 - !!python/tuple [] @@ -25,7 +25,7 @@ dictitems: kl_target: 0.01 logdir: /cns/ij-d/home/jietan/experiment/minitaur_vizier_study_ppo/mintrot_nonexp_nr_01_186515603_186518344/373 max_length: 1000 - network: !!python/name:pybullet_envs.minitaur.agents.scripts.networks.ForwardGaussianPolicy '' + network: !!python/name:pycram_bullet_envs.minitaur.agents.scripts.networks.ForwardGaussianPolicy '' network_config: {} num_agents: 25 policy_layers: !!python/tuple diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.data-00000-of-00001 b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.data-00000-of-00001 similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.data-00000-of-00001 rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.data-00000-of-00001 diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.index b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.index similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.index rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.index diff --git a/examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.meta b/examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.meta similarity index 100% rename from examples/pybullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.meta rename to examples/pycram_bullet/gym/pybullet_data/policies/ppo/minitaur_trotting_env/model.ckpt-14000000.meta diff --git a/examples/pybullet/gym/pybullet_data/pr2_gripper.urdf b/examples/pycram_bullet/gym/pybullet_data/pr2_gripper.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/pr2_gripper.urdf rename to examples/pycram_bullet/gym/pybullet_data/pr2_gripper.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/LOG00076.TXT b/examples/pycram_bullet/gym/pybullet_data/quadruped/LOG00076.TXT similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/LOG00076.TXT rename to examples/pycram_bullet/gym/pybullet_data/quadruped/LOG00076.TXT diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/channel.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/channel.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_4inch.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/channel_4inch.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_4inch.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/channel_4inch.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_6inch.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/channel_6inch.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_6inch.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/channel_6inch.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/d435i.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/d435i.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr12_h101.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/fr12_h101.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr12_h101.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/fr12_h101.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr12_h103_lowres.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/fr12_h103_lowres.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr12_h103_lowres.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/fr12_h103_lowres.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/fr13_s102.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/fr13_s102.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102_lowerscaled.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/fr13_s102_lowerscaled.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102_lowerscaled.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/fr13_s102_lowerscaled.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.py b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/microtaur.py similarity index 96% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.py rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/microtaur.py index 44c7c527af..527ec48f2f 100644 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.py +++ b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/microtaur.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import time p.connect(p.GUI) diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/plate.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/plate.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/toe_brake.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/toe_brake.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/toe_brake.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/toe_brake.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/xavier.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/xavier.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl b/examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/minitaur.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_fixed_all.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_fixed_all.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/minitaur_fixed_all.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_fixed_all.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_fixed_knees.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_fixed_knees.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/minitaur_fixed_knees.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_fixed_knees.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_v1.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_v1.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/minitaur_v1.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/minitaur_v1.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/quadruped.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/quadruped.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/quadruped.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/quadruped.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/spirit40.py b/examples/pycram_bullet/gym/pybullet_data/quadruped/spirit40.py similarity index 98% rename from examples/pybullet/gym/pybullet_data/quadruped/spirit40.py rename to examples/pycram_bullet/gym/pybullet_data/quadruped/spirit40.py index cb1d5ce9ca..7c49963d3c 100644 --- a/examples/pybullet/gym/pybullet_data/quadruped/spirit40.py +++ b/examples/pycram_bullet/gym/pybullet_data/quadruped/spirit40.py @@ -4,9 +4,9 @@ import argparse -import pybullet as p +import pycram_bullet as p import time -import pybullet_data as pd +import pycram_bullet_data as pd p.connect(p.GUI) p.setAdditionalSearchPath(pd.getDataPath()) dt = 1./240. diff --git a/examples/pybullet/gym/pybullet_data/quadruped/spirit40.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/spirit40.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/spirit40.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/spirit40.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/spirit40newer.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/spirit40newer.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/spirit40newer.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/spirit40newer.urdf diff --git a/examples/pybullet/gym/pybullet_data/quadruped/t-motor.jpg b/examples/pycram_bullet/gym/pybullet_data/quadruped/t-motor.jpg similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/t-motor.jpg rename to examples/pycram_bullet/gym/pybullet_data/quadruped/t-motor.jpg diff --git a/examples/pybullet/gym/pybullet_data/quadruped/tmotor.blend b/examples/pycram_bullet/gym/pybullet_data/quadruped/tmotor.blend similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/tmotor.blend rename to examples/pycram_bullet/gym/pybullet_data/quadruped/tmotor.blend diff --git a/examples/pybullet/gym/pybullet_data/quadruped/tmotor3.mtl b/examples/pycram_bullet/gym/pybullet_data/quadruped/tmotor3.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/tmotor3.mtl rename to examples/pycram_bullet/gym/pybullet_data/quadruped/tmotor3.mtl diff --git a/examples/pybullet/gym/pybullet_data/quadruped/tmotor3.obj b/examples/pycram_bullet/gym/pybullet_data/quadruped/tmotor3.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/tmotor3.obj rename to examples/pycram_bullet/gym/pybullet_data/quadruped/tmotor3.obj diff --git a/examples/pybullet/gym/pybullet_data/quadruped/vision60.urdf b/examples/pycram_bullet/gym/pybullet_data/quadruped/vision60.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/quadruped/vision60.urdf rename to examples/pycram_bullet/gym/pybullet_data/quadruped/vision60.urdf diff --git a/examples/pybullet/gym/pybullet_data/r2d2.urdf b/examples/pycram_bullet/gym/pybullet_data/r2d2.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/r2d2.urdf rename to examples/pycram_bullet/gym/pybullet_data/r2d2.urdf diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/chassis.STL b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/chassis.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/chassis.STL rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/chassis.STL diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/chassis.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/chassis.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/chassis.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/chassis.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/chassis_differential.STL b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/chassis_differential.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/chassis_differential.STL rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/chassis_differential.STL diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/checker_blue.png b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/checker_blue.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/checker_blue.png rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/checker_blue.png diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/cone.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/cone.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/cone.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/cone.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/cone.mtl b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/cone.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/cone.mtl rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/cone.mtl diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/cone.obj b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/cone.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/cone.obj rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/cone.obj diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/hokuyo.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/hokuyo.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/hokuyo.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/hokuyo.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/hokuyo.mtl b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/hokuyo.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/hokuyo.mtl rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/hokuyo.mtl diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/hokuyo.obj b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/hokuyo.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/hokuyo.obj rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/hokuyo.obj diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_front_wheel.STL b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_front_wheel.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_front_wheel.STL rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_front_wheel.STL diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_front_wheel.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_front_wheel.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_front_wheel.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_front_wheel.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_front_wheel.mtl b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_front_wheel.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_front_wheel.mtl rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_front_wheel.mtl diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_front_wheel.obj b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_front_wheel.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_front_wheel.obj rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_front_wheel.obj diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.STL b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.STL rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.STL diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.mtl b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.mtl rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.mtl diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.obj b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.obj rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_rear_wheel.obj diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_steering_hinge.STL b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_steering_hinge.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_steering_hinge.STL rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_steering_hinge.STL diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/left_steering_hinge.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_steering_hinge.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/left_steering_hinge.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/left_steering_hinge.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/parking_1.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/parking_1.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/parking_1.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/parking_1.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_front_wheel.STL b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_front_wheel.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_front_wheel.STL rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_front_wheel.STL diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_front_wheel.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_front_wheel.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_front_wheel.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_front_wheel.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_front_wheel.mtl b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_front_wheel.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_front_wheel.mtl rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_front_wheel.mtl diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_front_wheel.obj b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_front_wheel.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_front_wheel.obj rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_front_wheel.obj diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.STL b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.STL rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.STL diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.mtl b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.mtl rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.mtl diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.obj b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.obj rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_rear_wheel.obj diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_steering_hinge.STL b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_steering_hinge.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_steering_hinge.STL rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_steering_hinge.STL diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/right_steering_hinge.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_steering_hinge.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/right_steering_hinge.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/right_steering_hinge.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/walker_racecourse.dae b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/walker_racecourse.dae similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/walker_racecourse.dae rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/walker_racecourse.dae diff --git a/examples/pybullet/gym/pybullet_data/racecar/meshes/wheel.jpg b/examples/pycram_bullet/gym/pybullet_data/racecar/meshes/wheel.jpg similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/meshes/wheel.jpg rename to examples/pycram_bullet/gym/pybullet_data/racecar/meshes/wheel.jpg diff --git a/examples/pybullet/gym/pybullet_data/racecar/racecar.urdf b/examples/pycram_bullet/gym/pybullet_data/racecar/racecar.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/racecar.urdf rename to examples/pycram_bullet/gym/pybullet_data/racecar/racecar.urdf diff --git a/examples/pybullet/gym/pybullet_data/racecar/racecar_differential.urdf b/examples/pycram_bullet/gym/pybullet_data/racecar/racecar_differential.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/racecar/racecar_differential.urdf rename to examples/pycram_bullet/gym/pybullet_data/racecar/racecar_differential.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs.zip b/examples/pycram_bullet/gym/pybullet_data/random_urdfs.zip similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs.zip rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs.zip diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/000/000.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/000/000.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/000/000.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/000/000.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/000/000.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/000/000.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/000/000.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/000/000.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/000/000.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/000/000.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/000/000.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/000/000.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/001/001.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/001/001.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/001/001.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/001/001.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/001/001.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/001/001.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/001/001.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/001/001.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/002/002.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/002/002.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/002/002.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/002/002.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/002/002.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/002/002.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/002/002.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/003/003.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/003/003.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/003/003.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/003/003.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/003/003.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/003/003.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/003/003.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/003/003.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/004/004.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/004/004.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/004/004.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/004/004.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/004/004.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/004/004.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/004/004.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/004/004.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/005/005.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/005/005.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/005/005.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/005/005.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/005/005.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/005/005.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/005/005.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/006/006.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/006/006.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/006/006.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/006/006.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/006/006.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/006/006.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/006/006.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/006/006.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/007/007.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/007/007.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/007/007.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/007/007.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/007/007.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/007/007.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/007/007.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/007/007.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/007/007.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/008/008.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/008/008.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/008/008.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/008/008.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/008/008.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/008/008.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/008/008.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/008/008.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/008/008.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/009/009.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/009/009.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/009/009.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/009/009.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/009/009.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/009/009.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/009/009.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/009/009.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/010/010.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/010/010.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/010/010.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/010/010.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/010/010.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/010/010.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/010/010.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/010/010.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/011/011.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/011/011.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/011/011.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/011/011.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/011/011.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/011/011.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/011/011.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/012/012.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/012/012.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/012/012.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/012/012.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/012/012.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/012/012.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/012/012.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/012/012.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/013/013.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/013/013.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/013/013.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/013/013.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/013/013.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/013/013.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/013/013.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/014/014.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/014/014.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/014/014.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/014/014.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/014/014.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/014/014.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/014/014.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/015/015.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/015/015.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/015/015.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/015/015.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/015/015.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/015/015.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/015/015.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/016/016.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/016/016.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/016/016.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/016/016.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/016/016.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/016/016.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/016/016.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/016/016.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/017/017.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/017/017.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/017/017.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/017/017.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/017/017.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/017/017.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/017/017.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/017/017.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/017/017.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/018/018.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/018/018.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/018/018.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/018/018.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/018/018.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/018/018.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/018/018.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/018/018.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/018/018.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/019/019.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/019/019.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/019/019.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/019/019.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/019/019.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/019/019.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/019/019.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/019/019.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/020/020.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/020/020.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/020/020.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/020/020.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/020/020.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/020/020.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/020/020.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/021/021.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/021/021.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/021/021.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/021/021.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/021/021.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/021/021.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/021/021.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/021/021.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/022/022.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/022/022.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/022/022.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/022/022.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/022/022.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/022/022.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/022/022.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/022/022.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/023/023.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/023/023.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/023/023.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/023/023.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/023/023.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/023/023.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/023/023.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/023/023.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/024/024.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/024/024.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/024/024.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/024/024.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/024/024.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/024/024.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/024/024.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/024/024.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/025/025.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/025/025.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/025/025.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/025/025.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/025/025.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/025/025.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/025/025.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/025/025.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/025/025.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/026/026.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/026/026.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/026/026.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/026/026.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/026/026.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/026/026.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/026/026.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/026/026.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/027/027.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/027/027.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/027/027.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/027/027.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/027/027.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/027/027.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/027/027.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/028/028.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/028/028.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/028/028.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/028/028.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/028/028.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/028/028.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/028/028.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/029/029.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/029/029.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/029/029.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/029/029.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/029/029.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/029/029.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/029/029.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/029/029.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/030/030.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/030/030.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/030/030.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/030/030.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/030/030.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/030/030.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/030/030.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/030/030.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/031/031.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/031/031.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/031/031.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/031/031.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/031/031.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/031/031.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/031/031.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/031/031.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/032/032.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/032/032.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/032/032.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/032/032.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/032/032.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/032/032.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/032/032.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/033/033.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/033/033.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/033/033.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/033/033.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/033/033.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/033/033.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/033/033.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/033/033.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/033/033.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/034/034.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/034/034.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/034/034.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/034/034.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/034/034.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/034/034.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/034/034.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/034/034.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/034/034.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/035/035.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/035/035.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/035/035.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/035/035.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/035/035.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/035/035.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/035/035.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/035/035.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/035/035.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/036/036.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/036/036.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/036/036.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/036/036.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/036/036.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/036/036.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/036/036.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/036/036.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/036/036.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/037/037.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/037/037.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/037/037.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/037/037.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/037/037.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/037/037.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/037/037.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/037/037.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/037/037.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/038/038.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/038/038.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/038/038.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/038/038.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/038/038.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/038/038.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/038/038.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/038/038.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/038/038.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/039/039.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/039/039.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/039/039.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/039/039.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/039/039.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/039/039.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/039/039.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/039/039.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/039/039.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/040/040.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/040/040.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/040/040.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/040/040.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/040/040.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/040/040.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/040/040.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/040/040.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/040/040.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/041/041.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/041/041.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/041/041.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/041/041.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/041/041.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/041/041.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/041/041.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/041/041.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/041/041.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/042/042.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/042/042.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/042/042.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/042/042.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/042/042.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/042/042.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/042/042.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/042/042.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/042/042.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/043/043.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/043/043.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/043/043.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/043/043.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/043/043.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/043/043.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/043/043.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/043/043.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/043/043.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/044/044.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/044/044.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/044/044.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/044/044.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/044/044.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/044/044.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/044/044.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/044/044.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/044/044.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/045/045.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/045/045.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/045/045.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/045/045.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/045/045.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/045/045.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/045/045.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/045/045.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/045/045.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/046/046.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/046/046.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/046/046.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/046/046.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/046/046.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/046/046.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/046/046.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/046/046.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/046/046.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/047/047.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/047/047.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/047/047.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/047/047.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/047/047.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/047/047.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/047/047.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/047/047.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/047/047.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/048/048.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/048/048.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/048/048.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/048/048.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/048/048.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/048/048.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/048/048.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/048/048.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/048/048.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/049/049.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/049/049.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/049/049.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/049/049.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/049/049.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/049/049.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/049/049.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/049/049.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/049/049.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/050/050.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/050/050.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/050/050.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/050/050.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/050/050.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/050/050.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/050/050.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/050/050.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/050/050.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/051/051.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/051/051.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/051/051.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/051/051.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/051/051.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/051/051.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/051/051.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/051/051.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/051/051.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/052/052.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/052/052.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/052/052.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/052/052.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/052/052.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/052/052.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/052/052.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/052/052.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/052/052.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/053/053.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/053/053.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/053/053.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/053/053.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/053/053.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/053/053.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/053/053.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/053/053.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/053/053.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/054/054.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/054/054.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/054/054.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/054/054.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/054/054.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/054/054.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/054/054.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/054/054.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/054/054.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/055/055.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/055/055.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/055/055.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/055/055.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/055/055.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/055/055.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/055/055.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/055/055.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/055/055.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/056/056.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/056/056.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/056/056.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/056/056.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/056/056.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/056/056.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/056/056.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/056/056.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/056/056.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/057/057.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/057/057.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/057/057.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/057/057.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/057/057.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/057/057.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/057/057.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/057/057.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/057/057.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/058/058.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/058/058.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/058/058.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/058/058.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/058/058.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/058/058.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/058/058.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/058/058.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/058/058.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/059/059.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/059/059.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/059/059.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/059/059.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/059/059.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/059/059.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/059/059.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/059/059.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/059/059.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/060/060.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/060/060.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/060/060.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/060/060.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/060/060.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/060/060.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/060/060.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/060/060.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/060/060.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/061/061.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/061/061.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/061/061.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/061/061.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/061/061.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/061/061.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/061/061.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/061/061.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/061/061.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/062/062.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/062/062.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/062/062.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/062/062.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/062/062.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/062/062.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/062/062.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/062/062.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/062/062.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/063/063.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/063/063.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/063/063.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/063/063.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/063/063.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/063/063.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/063/063.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/063/063.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/063/063.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/064/064.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/064/064.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/064/064.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/064/064.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/064/064.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/064/064.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/064/064.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/064/064.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/064/064.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/065/065.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/065/065.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/065/065.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/065/065.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/065/065.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/065/065.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/065/065.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/065/065.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/065/065.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/066/066.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/066/066.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/066/066.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/066/066.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/066/066.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/066/066.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/066/066.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/066/066.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/066/066.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/067/067.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/067/067.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/067/067.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/067/067.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/067/067.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/067/067.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/067/067.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/067/067.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/067/067.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/068/068.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/068/068.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/068/068.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/068/068.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/068/068.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/068/068.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/068/068.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/068/068.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/068/068.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/069/069.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/069/069.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/069/069.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/069/069.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/069/069.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/069/069.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/069/069.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/069/069.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/069/069.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/070/070.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/070/070.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/070/070.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/070/070.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/070/070.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/070/070.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/070/070.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/070/070.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/070/070.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/071/071.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/071/071.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/071/071.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/071/071.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/071/071.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/071/071.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/071/071.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/071/071.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/071/071.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/072/072.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/072/072.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/072/072.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/072/072.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/072/072.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/072/072.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/072/072.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/072/072.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/072/072.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/073/073.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/073/073.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/073/073.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/073/073.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/073/073.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/073/073.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/073/073.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/073/073.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/073/073.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/074/074.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/074/074.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/074/074.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/074/074.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/074/074.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/074/074.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/074/074.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/074/074.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/074/074.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/075/075.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/075/075.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/075/075.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/075/075.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/075/075.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/075/075.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/075/075.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/075/075.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/075/075.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/076/076.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/076/076.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/076/076.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/076/076.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/076/076.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/076/076.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/076/076.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/076/076.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/076/076.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/077/077.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/077/077.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/077/077.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/077/077.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/077/077.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/077/077.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/077/077.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/077/077.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/077/077.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/078/078.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/078/078.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/078/078.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/078/078.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/078/078.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/078/078.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/078/078.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/078/078.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/078/078.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/079/079.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/079/079.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/079/079.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/079/079.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/079/079.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/079/079.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/079/079.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/079/079.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/079/079.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/080/080.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/080/080.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/080/080.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/080/080.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/080/080.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/080/080.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/080/080.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/080/080.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/080/080.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/081/081.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/081/081.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/081/081.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/081/081.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/081/081.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/081/081.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/081/081.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/081/081.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/081/081.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/082/082.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/082/082.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/082/082.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/082/082.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/082/082.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/082/082.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/082/082.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/082/082.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/082/082.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/083/083.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/083/083.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/083/083.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/083/083.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/083/083.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/083/083.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/083/083.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/083/083.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/083/083.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/084/084.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/084/084.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/084/084.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/084/084.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/084/084.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/084/084.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/084/084.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/084/084.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/084/084.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/085/085.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/085/085.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/085/085.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/085/085.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/085/085.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/085/085.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/085/085.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/085/085.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/085/085.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/086/086.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/086/086.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/086/086.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/086/086.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/086/086.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/086/086.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/086/086.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/086/086.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/086/086.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/087/087.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/087/087.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/087/087.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/087/087.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/087/087.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/087/087.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/087/087.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/087/087.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/087/087.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/088/088.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/088/088.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/088/088.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/088/088.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/088/088.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/088/088.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/088/088.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/088/088.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/088/088.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/089/089.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/089/089.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/089/089.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/089/089.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/089/089.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/089/089.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/089/089.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/089/089.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/089/089.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/090/090.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/090/090.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/090/090.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/090/090.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/090/090.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/090/090.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/090/090.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/090/090.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/090/090.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/091/091.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/091/091.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/091/091.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/091/091.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/091/091.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/091/091.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/091/091.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/091/091.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/091/091.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/092/092.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/092/092.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/092/092.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/092/092.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/092/092.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/092/092.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/092/092.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/092/092.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/092/092.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/093/093.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/093/093.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/093/093.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/093/093.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/093/093.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/093/093.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/093/093.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/093/093.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/093/093.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/094/094.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/094/094.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/094/094.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/094/094.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/094/094.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/094/094.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/094/094.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/094/094.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/094/094.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/095/095.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/095/095.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/095/095.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/095/095.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/095/095.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/095/095.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/095/095.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/095/095.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/095/095.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/096/096.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/096/096.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/096/096.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/096/096.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/096/096.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/096/096.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/096/096.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/096/096.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/096/096.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/097/097.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/097/097.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/097/097.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/097/097.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/097/097.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/097/097.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/097/097.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/097/097.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/097/097.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/098/098.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/098/098.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/098/098.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/098/098.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/098/098.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/098/098.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/098/098.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/098/098.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/098/098.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/099/099.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/099/099.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/099/099.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/099/099.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/099/099.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/099/099.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/099/099.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/099/099.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/099/099.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/100/100.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/100/100.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/100/100.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/100/100.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/100/100.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/100/100.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/100/100.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/100/100.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/100/100.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/101/101.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/101/101.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/101/101.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/101/101.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/101/101.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/101/101.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/101/101.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/101/101.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/101/101.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/102/102.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/102/102.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/102/102.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/102/102.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/102/102.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/102/102.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/102/102.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/102/102.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/102/102.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/103/103.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/103/103.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/103/103.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/103/103.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/103/103.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/103/103.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/103/103.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/103/103.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/103/103.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/104/104.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/104/104.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/104/104.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/104/104.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/104/104.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/104/104.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/104/104.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/104/104.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/104/104.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/105/105.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/105/105.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/105/105.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/105/105.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/105/105.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/105/105.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/105/105.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/105/105.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/105/105.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/106/106.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/106/106.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/106/106.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/106/106.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/106/106.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/106/106.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/106/106.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/106/106.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/106/106.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/107/107.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/107/107.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/107/107.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/107/107.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/107/107.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/107/107.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/107/107.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/107/107.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/107/107.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/108/108.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/108/108.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/108/108.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/108/108.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/108/108.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/108/108.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/108/108.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/108/108.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/108/108.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/109/109.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/109/109.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/109/109.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/109/109.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/109/109.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/109/109.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/109/109.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/109/109.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/109/109.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/110/110.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/110/110.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/110/110.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/110/110.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/110/110.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/110/110.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/110/110.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/110/110.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/110/110.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/111/111.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/111/111.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/111/111.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/111/111.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/111/111.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/111/111.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/111/111.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/111/111.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/111/111.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/112/112.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/112/112.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/112/112.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/112/112.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/112/112.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/112/112.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/112/112.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/112/112.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/112/112.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/113/113.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/113/113.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/113/113.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/113/113.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/113/113.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/113/113.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/113/113.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/113/113.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/113/113.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/114/114.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/114/114.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/114/114.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/114/114.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/114/114.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/114/114.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/114/114.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/114/114.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/114/114.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/115/115.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/115/115.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/115/115.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/115/115.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/115/115.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/115/115.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/115/115.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/115/115.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/115/115.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/116/116.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/116/116.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/116/116.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/116/116.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/116/116.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/116/116.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/116/116.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/116/116.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/116/116.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/117/117.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/117/117.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/117/117.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/117/117.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/117/117.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/117/117.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/117/117.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/117/117.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/117/117.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/118/118.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/118/118.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/118/118.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/118/118.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/118/118.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/118/118.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/118/118.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/118/118.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/118/118.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/119/119.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/119/119.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/119/119.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/119/119.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/119/119.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/119/119.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/119/119.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/119/119.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/119/119.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/120/120.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/120/120.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/120/120.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/120/120.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/120/120.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/120/120.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/120/120.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/120/120.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/120/120.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/121/121.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/121/121.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/121/121.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/121/121.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/121/121.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/121/121.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/121/121.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/121/121.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/121/121.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/122/122.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/122/122.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/122/122.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/122/122.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/122/122.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/122/122.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/122/122.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/122/122.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/122/122.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/123/123.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/123/123.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/123/123.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/123/123.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/123/123.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/123/123.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/123/123.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/123/123.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/123/123.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/124/124.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/124/124.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/124/124.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/124/124.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/124/124.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/124/124.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/124/124.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/124/124.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/124/124.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/125/125.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/125/125.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/125/125.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/125/125.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/125/125.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/125/125.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/125/125.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/125/125.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/125/125.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/126/126.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/126/126.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/126/126.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/126/126.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/126/126.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/126/126.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/126/126.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/126/126.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/126/126.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/127/127.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/127/127.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/127/127.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/127/127.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/127/127.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/127/127.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/127/127.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/127/127.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/127/127.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/128/128.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/128/128.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/128/128.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/128/128.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/128/128.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/128/128.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/128/128.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/128/128.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/128/128.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/129/129.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/129/129.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/129/129.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/129/129.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/129/129.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/129/129.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/129/129.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/129/129.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/129/129.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/130/130.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/130/130.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/130/130.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/130/130.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/130/130.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/130/130.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/130/130.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/130/130.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/130/130.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/131/131.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/131/131.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/131/131.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/131/131.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/131/131.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/131/131.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/131/131.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/131/131.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/131/131.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/132/132.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/132/132.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/132/132.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/132/132.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/132/132.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/132/132.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/132/132.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/132/132.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/132/132.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/133/133.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/133/133.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/133/133.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/133/133.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/133/133.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/133/133.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/133/133.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/133/133.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/133/133.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/134/134.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/134/134.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/134/134.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/134/134.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/134/134.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/134/134.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/134/134.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/134/134.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/134/134.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/135/135.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/135/135.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/135/135.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/135/135.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/135/135.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/135/135.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/135/135.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/135/135.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/135/135.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/136/136.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/136/136.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/136/136.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/136/136.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/136/136.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/136/136.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/136/136.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/136/136.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/136/136.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/137/137.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/137/137.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/137/137.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/137/137.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/137/137.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/137/137.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/137/137.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/137/137.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/137/137.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/138/138.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/138/138.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/138/138.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/138/138.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/138/138.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/138/138.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/138/138.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/138/138.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/138/138.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/139/139.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/139/139.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/139/139.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/139/139.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/139/139.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/139/139.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/139/139.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/139/139.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/139/139.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/140/140.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/140/140.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/140/140.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/140/140.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/140/140.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/140/140.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/140/140.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/140/140.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/140/140.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/141/141.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/141/141.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/141/141.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/141/141.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/141/141.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/141/141.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/141/141.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/141/141.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/141/141.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/142/142.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/142/142.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/142/142.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/142/142.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/142/142.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/142/142.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/142/142.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/142/142.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/142/142.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/143/143.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/143/143.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/143/143.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/143/143.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/143/143.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/143/143.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/143/143.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/143/143.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/143/143.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/144/144.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/144/144.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/144/144.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/144/144.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/144/144.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/144/144.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/144/144.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/144/144.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/144/144.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/145/145.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/145/145.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/145/145.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/145/145.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/145/145.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/145/145.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/145/145.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/145/145.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/145/145.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/146/146.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/146/146.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/146/146.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/146/146.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/146/146.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/146/146.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/146/146.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/146/146.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/146/146.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/147/147.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/147/147.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/147/147.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/147/147.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/147/147.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/147/147.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/147/147.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/147/147.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/147/147.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/148/148.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/148/148.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/148/148.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/148/148.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/148/148.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/148/148.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/148/148.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/148/148.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/148/148.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/149/149.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/149/149.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/149/149.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/149/149.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/149/149.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/149/149.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/149/149.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/149/149.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/149/149.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/150/150.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/150/150.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/150/150.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/150/150.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/150/150.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/150/150.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/150/150.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/150/150.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/150/150.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/151/151.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/151/151.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/151/151.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/151/151.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/151/151.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/151/151.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/151/151.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/151/151.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/151/151.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/152/152.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/152/152.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/152/152.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/152/152.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/152/152.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/152/152.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/152/152.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/152/152.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/152/152.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/153/153.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/153/153.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/153/153.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/153/153.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/153/153.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/153/153.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/153/153.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/153/153.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/153/153.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/154/154.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/154/154.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/154/154.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/154/154.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/154/154.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/154/154.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/154/154.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/154/154.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/154/154.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/155/155.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/155/155.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/155/155.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/155/155.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/155/155.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/155/155.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/155/155.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/155/155.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/155/155.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/156/156.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/156/156.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/156/156.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/156/156.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/156/156.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/156/156.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/156/156.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/156/156.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/156/156.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/157/157.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/157/157.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/157/157.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/157/157.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/157/157.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/157/157.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/157/157.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/157/157.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/157/157.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/158/158.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/158/158.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/158/158.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/158/158.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/158/158.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/158/158.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/158/158.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/158/158.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/158/158.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/159/159.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/159/159.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/159/159.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/159/159.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/159/159.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/159/159.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/159/159.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/159/159.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/159/159.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/160/160.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/160/160.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/160/160.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/160/160.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/160/160.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/160/160.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/160/160.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/160/160.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/160/160.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/161/161.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/161/161.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/161/161.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/161/161.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/161/161.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/161/161.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/161/161.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/161/161.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/161/161.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/162/162.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/162/162.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/162/162.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/162/162.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/162/162.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/162/162.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/162/162.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/162/162.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/162/162.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/163/163.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/163/163.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/163/163.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/163/163.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/163/163.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/163/163.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/163/163.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/163/163.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/163/163.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/164/164.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/164/164.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/164/164.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/164/164.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/164/164.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/164/164.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/164/164.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/164/164.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/164/164.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/165/165.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/165/165.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/165/165.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/165/165.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/165/165.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/165/165.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/165/165.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/165/165.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/165/165.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/166/166.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/166/166.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/166/166.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/166/166.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/166/166.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/166/166.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/166/166.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/166/166.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/166/166.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/167/167.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/167/167.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/167/167.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/167/167.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/167/167.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/167/167.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/167/167.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/167/167.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/167/167.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/168/168.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/168/168.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/168/168.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/168/168.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/168/168.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/168/168.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/168/168.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/168/168.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/168/168.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/169/169.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/169/169.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/169/169.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/169/169.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/169/169.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/169/169.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/169/169.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/169/169.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/169/169.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/170/170.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/170/170.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/170/170.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/170/170.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/170/170.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/170/170.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/170/170.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/170/170.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/170/170.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/171/171.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/171/171.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/171/171.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/171/171.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/171/171.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/171/171.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/171/171.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/171/171.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/171/171.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/172/172.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/172/172.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/172/172.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/172/172.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/172/172.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/172/172.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/172/172.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/172/172.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/172/172.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/173/173.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/173/173.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/173/173.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/173/173.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/173/173.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/173/173.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/173/173.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/173/173.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/173/173.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/174/174.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/174/174.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/174/174.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/174/174.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/174/174.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/174/174.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/174/174.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/174/174.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/174/174.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/175/175.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/175/175.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/175/175.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/175/175.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/175/175.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/175/175.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/175/175.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/175/175.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/175/175.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/176/176.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/176/176.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/176/176.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/176/176.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/176/176.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/176/176.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/176/176.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/176/176.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/176/176.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/177/177.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/177/177.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/177/177.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/177/177.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/177/177.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/177/177.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/177/177.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/177/177.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/177/177.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/178/178.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/178/178.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/178/178.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/178/178.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/178/178.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/178/178.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/178/178.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/178/178.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/178/178.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/179/179.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/179/179.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/179/179.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/179/179.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/179/179.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/179/179.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/179/179.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/179/179.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/179/179.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/180/180.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/180/180.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/180/180.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/180/180.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/180/180.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/180/180.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/180/180.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/180/180.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/180/180.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/181/181.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/181/181.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/181/181.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/181/181.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/181/181.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/181/181.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/181/181.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/181/181.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/181/181.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/182/182.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/182/182.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/182/182.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/182/182.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/182/182.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/182/182.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/182/182.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/182/182.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/182/182.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/183/183.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/183/183.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/183/183.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/183/183.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/183/183.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/183/183.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/183/183.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/183/183.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/183/183.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/184/184.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/184/184.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/184/184.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/184/184.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/184/184.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/184/184.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/184/184.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/184/184.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/184/184.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/185/185.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/185/185.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/185/185.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/185/185.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/185/185.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/185/185.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/185/185.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/185/185.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/185/185.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/186/186.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/186/186.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/186/186.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/186/186.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/186/186.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/186/186.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/186/186.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/186/186.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/186/186.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/187/187.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/187/187.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/187/187.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/187/187.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/187/187.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/187/187.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/187/187.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/187/187.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/187/187.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/188/188.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/188/188.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/188/188.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/188/188.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/188/188.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/188/188.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/188/188.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/188/188.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/188/188.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/189/189.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/189/189.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/189/189.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/189/189.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/189/189.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/189/189.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/189/189.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/189/189.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/189/189.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/190/190.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/190/190.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/190/190.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/190/190.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/190/190.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/190/190.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/190/190.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/190/190.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/190/190.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/191/191.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/191/191.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/191/191.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/191/191.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/191/191.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/191/191.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/191/191.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/191/191.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/191/191.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/192/192.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/192/192.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/192/192.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/192/192.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/192/192.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/192/192.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/192/192.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/192/192.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/192/192.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/193/193.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/193/193.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/193/193.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/193/193.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/193/193.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/193/193.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/193/193.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/193/193.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/193/193.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/194/194.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/194/194.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/194/194.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/194/194.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/194/194.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/194/194.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/194/194.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/194/194.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/194/194.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/195/195.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/195/195.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/195/195.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/195/195.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/195/195.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/195/195.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/195/195.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/195/195.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/195/195.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/196/196.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/196/196.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/196/196.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/196/196.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/196/196.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/196/196.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/196/196.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/196/196.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/196/196.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/197/197.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/197/197.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/197/197.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/197/197.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/197/197.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/197/197.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/197/197.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/197/197.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/197/197.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/198/198.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/198/198.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/198/198.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/198/198.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/198/198.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/198/198.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/198/198.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/198/198.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/198/198.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/199/199.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/199/199.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/199/199.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/199/199.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/199/199.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/199/199.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/199/199.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/199/199.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/199/199.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/200/200.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/200/200.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/200/200.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/200/200.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/200/200.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/200/200.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/200/200.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/200/200.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/200/200.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/201/201.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/201/201.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/201/201.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/201/201.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/201/201.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/201/201.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/201/201.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/201/201.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/201/201.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/202/202.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/202/202.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/202/202.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/202/202.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/202/202.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/202/202.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/202/202.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/202/202.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/202/202.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/203/203.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/203/203.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/203/203.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/203/203.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/203/203.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/203/203.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/203/203.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/203/203.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/203/203.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/204/204.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/204/204.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/204/204.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/204/204.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/204/204.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/204/204.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/204/204.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/204/204.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/204/204.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/205/205.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/205/205.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/205/205.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/205/205.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/205/205.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/205/205.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/205/205.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/205/205.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/205/205.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/206/206.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/206/206.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/206/206.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/206/206.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/206/206.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/206/206.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/206/206.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/206/206.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/206/206.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/207/207.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/207/207.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/207/207.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/207/207.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/207/207.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/207/207.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/207/207.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/207/207.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/207/207.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/208/208.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/208/208.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/208/208.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/208/208.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/208/208.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/208/208.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/208/208.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/208/208.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/208/208.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/209/209.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/209/209.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/209/209.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/209/209.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/209/209.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/209/209.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/209/209.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/209/209.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/209/209.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/210/210.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/210/210.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/210/210.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/210/210.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/210/210.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/210/210.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/210/210.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/210/210.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/210/210.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/211/211.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/211/211.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/211/211.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/211/211.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/211/211.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/211/211.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/211/211.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/211/211.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/211/211.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/212/212.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/212/212.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/212/212.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/212/212.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/212/212.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/212/212.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/212/212.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/212/212.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/212/212.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/213/213.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/213/213.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/213/213.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/213/213.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/213/213.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/213/213.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/213/213.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/213/213.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/213/213.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/214/214.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/214/214.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/214/214.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/214/214.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/214/214.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/214/214.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/214/214.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/214/214.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/214/214.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/215/215.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/215/215.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/215/215.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/215/215.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/215/215.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/215/215.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/215/215.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/215/215.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/215/215.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/216/216.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/216/216.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/216/216.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/216/216.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/216/216.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/216/216.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/216/216.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/216/216.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/216/216.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/217/217.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/217/217.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/217/217.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/217/217.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/217/217.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/217/217.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/217/217.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/217/217.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/217/217.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/218/218.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/218/218.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/218/218.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/218/218.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/218/218.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/218/218.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/218/218.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/218/218.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/218/218.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/219/219.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/219/219.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/219/219.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/219/219.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/219/219.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/219/219.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/219/219.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/219/219.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/219/219.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/220/220.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/220/220.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/220/220.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/220/220.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/220/220.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/220/220.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/220/220.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/220/220.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/220/220.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/221/221.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/221/221.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/221/221.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/221/221.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/221/221.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/221/221.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/221/221.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/221/221.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/221/221.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/222/222.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/222/222.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/222/222.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/222/222.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/222/222.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/222/222.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/222/222.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/222/222.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/222/222.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/223/223.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/223/223.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/223/223.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/223/223.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/223/223.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/223/223.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/223/223.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/223/223.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/223/223.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/224/224.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/224/224.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/224/224.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/224/224.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/224/224.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/224/224.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/224/224.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/224/224.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/224/224.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/225/225.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/225/225.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/225/225.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/225/225.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/225/225.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/225/225.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/225/225.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/225/225.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/225/225.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/226/226.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/226/226.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/226/226.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/226/226.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/226/226.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/226/226.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/226/226.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/226/226.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/226/226.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/227/227.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/227/227.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/227/227.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/227/227.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/227/227.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/227/227.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/227/227.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/227/227.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/227/227.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/228/228.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/228/228.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/228/228.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/228/228.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/228/228.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/228/228.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/228/228.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/228/228.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/228/228.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/229/229.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/229/229.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/229/229.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/229/229.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/229/229.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/229/229.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/229/229.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/229/229.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/229/229.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/230/230.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/230/230.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/230/230.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/230/230.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/230/230.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/230/230.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/230/230.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/230/230.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/230/230.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/231/231.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/231/231.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/231/231.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/231/231.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/231/231.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/231/231.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/231/231.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/231/231.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/231/231.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/232/232.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/232/232.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/232/232.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/232/232.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/232/232.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/232/232.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/232/232.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/232/232.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/232/232.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/233/233.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/233/233.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/233/233.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/233/233.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/233/233.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/233/233.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/233/233.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/233/233.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/233/233.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/234/234.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/234/234.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/234/234.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/234/234.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/234/234.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/234/234.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/234/234.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/234/234.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/234/234.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/235/235.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/235/235.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/235/235.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/235/235.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/235/235.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/235/235.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/235/235.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/235/235.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/235/235.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/236/236.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/236/236.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/236/236.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/236/236.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/236/236.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/236/236.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/236/236.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/236/236.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/236/236.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/237/237.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/237/237.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/237/237.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/237/237.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/237/237.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/237/237.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/237/237.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/237/237.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/237/237.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/238/238.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/238/238.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/238/238.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/238/238.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/238/238.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/238/238.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/238/238.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/238/238.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/238/238.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/239/239.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/239/239.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/239/239.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/239/239.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/239/239.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/239/239.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/239/239.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/239/239.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/239/239.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/240/240.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/240/240.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/240/240.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/240/240.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/240/240.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/240/240.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/240/240.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/240/240.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/240/240.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/241/241.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/241/241.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/241/241.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/241/241.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/241/241.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/241/241.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/241/241.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/241/241.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/241/241.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/242/242.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/242/242.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/242/242.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/242/242.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/242/242.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/242/242.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/242/242.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/242/242.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/242/242.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/243/243.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/243/243.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/243/243.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/243/243.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/243/243.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/243/243.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/243/243.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/243/243.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/243/243.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/244/244.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/244/244.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/244/244.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/244/244.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/244/244.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/244/244.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/244/244.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/244/244.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/244/244.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/245/245.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/245/245.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/245/245.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/245/245.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/245/245.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/245/245.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/245/245.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/245/245.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/245/245.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/246/246.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/246/246.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/246/246.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/246/246.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/246/246.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/246/246.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/246/246.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/246/246.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/246/246.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/247/247.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/247/247.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/247/247.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/247/247.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/247/247.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/247/247.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/247/247.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/247/247.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/247/247.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/248/248.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/248/248.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/248/248.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/248/248.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/248/248.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/248/248.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/248/248.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/248/248.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/248/248.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/249/249.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/249/249.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/249/249.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/249/249.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/249/249.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/249/249.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/249/249.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/249/249.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/249/249.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/250/250.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/250/250.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/250/250.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/250/250.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/250/250.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/250/250.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/250/250.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/250/250.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/250/250.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/251/251.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/251/251.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/251/251.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/251/251.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/251/251.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/251/251.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/251/251.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/251/251.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/251/251.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/252/252.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/252/252.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/252/252.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/252/252.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/252/252.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/252/252.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/252/252.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/252/252.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/252/252.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/253/253.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/253/253.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/253/253.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/253/253.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/253/253.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/253/253.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/253/253.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/253/253.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/253/253.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/254/254.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/254/254.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/254/254.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/254/254.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/254/254.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/254/254.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/254/254.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/254/254.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/254/254.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/255/255.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/255/255.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/255/255.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/255/255.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/255/255.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/255/255.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/255/255.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/255/255.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/255/255.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/256/256.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/256/256.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/256/256.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/256/256.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/256/256.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/256/256.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/256/256.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/256/256.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/256/256.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/257/257.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/257/257.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/257/257.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/257/257.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/257/257.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/257/257.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/257/257.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/257/257.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/257/257.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/258/258.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/258/258.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/258/258.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/258/258.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/258/258.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/258/258.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/258/258.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/258/258.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/258/258.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/259/259.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/259/259.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/259/259.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/259/259.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/259/259.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/259/259.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/259/259.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/259/259.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/259/259.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/260/260.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/260/260.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/260/260.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/260/260.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/260/260.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/260/260.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/260/260.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/260/260.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/260/260.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/261/261.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/261/261.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/261/261.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/261/261.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/261/261.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/261/261.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/261/261.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/261/261.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/261/261.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/262/262.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/262/262.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/262/262.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/262/262.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/262/262.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/262/262.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/262/262.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/262/262.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/262/262.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/263/263.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/263/263.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/263/263.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/263/263.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/263/263.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/263/263.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/263/263.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/263/263.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/263/263.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/264/264.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/264/264.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/264/264.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/264/264.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/264/264.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/264/264.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/264/264.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/264/264.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/264/264.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/265/265.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/265/265.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/265/265.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/265/265.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/265/265.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/265/265.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/265/265.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/265/265.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/265/265.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/266/266.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/266/266.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/266/266.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/266/266.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/266/266.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/266/266.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/266/266.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/266/266.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/266/266.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/267/267.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/267/267.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/267/267.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/267/267.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/267/267.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/267/267.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/267/267.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/267/267.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/267/267.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/268/268.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/268/268.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/268/268.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/268/268.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/268/268.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/268/268.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/268/268.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/268/268.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/268/268.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/269/269.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/269/269.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/269/269.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/269/269.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/269/269.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/269/269.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/269/269.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/269/269.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/269/269.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/270/270.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/270/270.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/270/270.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/270/270.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/270/270.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/270/270.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/270/270.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/270/270.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/270/270.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/271/271.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/271/271.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/271/271.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/271/271.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/271/271.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/271/271.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/271/271.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/271/271.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/271/271.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/272/272.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/272/272.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/272/272.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/272/272.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/272/272.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/272/272.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/272/272.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/272/272.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/272/272.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/273/273.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/273/273.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/273/273.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/273/273.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/273/273.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/273/273.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/273/273.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/273/273.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/273/273.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/274/274.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/274/274.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/274/274.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/274/274.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/274/274.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/274/274.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/274/274.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/274/274.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/274/274.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/275/275.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/275/275.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/275/275.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/275/275.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/275/275.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/275/275.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/275/275.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/275/275.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/275/275.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/276/276.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/276/276.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/276/276.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/276/276.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/276/276.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/276/276.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/276/276.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/276/276.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/276/276.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/277/277.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/277/277.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/277/277.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/277/277.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/277/277.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/277/277.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/277/277.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/277/277.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/277/277.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/278/278.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/278/278.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/278/278.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/278/278.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/278/278.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/278/278.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/278/278.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/278/278.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/278/278.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/279/279.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/279/279.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/279/279.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/279/279.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/279/279.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/279/279.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/279/279.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/279/279.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/279/279.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/280/280.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/280/280.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/280/280.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/280/280.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/280/280.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/280/280.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/280/280.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/280/280.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/280/280.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/281/281.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/281/281.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/281/281.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/281/281.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/281/281.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/281/281.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/281/281.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/281/281.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/281/281.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/282/282.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/282/282.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/282/282.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/282/282.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/282/282.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/282/282.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/282/282.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/282/282.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/282/282.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/283/283.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/283/283.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/283/283.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/283/283.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/283/283.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/283/283.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/283/283.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/283/283.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/283/283.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/284/284.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/284/284.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/284/284.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/284/284.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/284/284.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/284/284.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/284/284.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/284/284.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/284/284.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/285/285.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/285/285.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/285/285.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/285/285.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/285/285.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/285/285.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/285/285.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/285/285.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/285/285.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/286/286.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/286/286.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/286/286.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/286/286.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/286/286.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/286/286.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/286/286.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/286/286.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/286/286.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/287/287.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/287/287.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/287/287.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/287/287.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/287/287.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/287/287.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/287/287.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/287/287.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/287/287.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/288/288.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/288/288.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/288/288.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/288/288.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/288/288.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/288/288.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/288/288.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/288/288.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/288/288.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/289/289.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/289/289.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/289/289.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/289/289.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/289/289.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/289/289.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/289/289.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/289/289.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/289/289.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/290/290.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/290/290.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/290/290.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/290/290.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/290/290.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/290/290.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/290/290.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/290/290.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/290/290.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/291/291.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/291/291.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/291/291.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/291/291.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/291/291.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/291/291.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/291/291.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/291/291.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/291/291.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/292/292.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/292/292.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/292/292.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/292/292.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/292/292.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/292/292.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/292/292.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/292/292.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/292/292.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/293/293.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/293/293.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/293/293.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/293/293.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/293/293.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/293/293.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/293/293.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/293/293.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/293/293.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/294/294.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/294/294.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/294/294.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/294/294.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/294/294.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/294/294.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/294/294.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/294/294.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/294/294.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/295/295.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/295/295.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/295/295.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/295/295.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/295/295.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/295/295.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/295/295.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/295/295.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/295/295.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/296/296.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/296/296.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/296/296.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/296/296.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/296/296.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/296/296.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/296/296.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/296/296.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/296/296.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/297/297.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/297/297.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/297/297.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/297/297.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/297/297.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/297/297.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/297/297.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/297/297.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/297/297.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/298/298.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/298/298.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/298/298.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/298/298.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/298/298.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/298/298.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/298/298.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/298/298.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/298/298.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/299/299.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/299/299.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/299/299.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/299/299.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/299/299.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/299/299.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/299/299.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/299/299.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/299/299.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/300/300.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/300/300.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/300/300.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/300/300.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/300/300.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/300/300.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/300/300.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/300/300.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/300/300.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/301/301.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/301/301.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/301/301.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/301/301.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/301/301.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/301/301.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/301/301.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/301/301.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/301/301.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/302/302.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/302/302.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/302/302.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/302/302.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/302/302.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/302/302.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/302/302.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/302/302.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/302/302.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/303/303.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/303/303.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/303/303.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/303/303.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/303/303.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/303/303.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/303/303.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/303/303.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/303/303.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/304/304.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/304/304.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/304/304.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/304/304.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/304/304.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/304/304.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/304/304.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/304/304.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/304/304.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/305/305.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/305/305.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/305/305.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/305/305.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/305/305.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/305/305.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/305/305.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/305/305.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/305/305.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/306/306.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/306/306.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/306/306.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/306/306.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/306/306.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/306/306.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/306/306.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/306/306.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/306/306.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/307/307.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/307/307.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/307/307.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/307/307.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/307/307.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/307/307.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/307/307.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/307/307.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/307/307.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/308/308.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/308/308.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/308/308.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/308/308.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/308/308.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/308/308.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/308/308.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/308/308.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/308/308.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/309/309.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/309/309.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/309/309.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/309/309.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/309/309.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/309/309.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/309/309.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/309/309.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/309/309.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/310/310.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/310/310.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/310/310.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/310/310.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/310/310.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/310/310.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/310/310.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/310/310.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/310/310.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/311/311.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/311/311.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/311/311.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/311/311.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/311/311.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/311/311.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/311/311.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/311/311.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/311/311.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/312/312.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/312/312.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/312/312.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/312/312.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/312/312.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/312/312.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/312/312.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/312/312.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/312/312.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/313/313.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/313/313.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/313/313.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/313/313.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/313/313.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/313/313.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/313/313.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/313/313.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/313/313.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/314/314.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/314/314.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/314/314.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/314/314.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/314/314.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/314/314.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/314/314.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/314/314.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/314/314.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/315/315.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/315/315.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/315/315.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/315/315.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/315/315.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/315/315.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/315/315.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/315/315.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/315/315.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/316/316.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/316/316.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/316/316.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/316/316.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/316/316.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/316/316.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/316/316.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/316/316.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/316/316.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/317/317.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/317/317.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/317/317.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/317/317.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/317/317.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/317/317.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/317/317.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/317/317.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/317/317.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/318/318.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/318/318.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/318/318.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/318/318.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/318/318.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/318/318.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/318/318.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/318/318.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/318/318.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/319/319.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/319/319.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/319/319.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/319/319.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/319/319.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/319/319.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/319/319.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/319/319.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/319/319.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/320/320.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/320/320.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/320/320.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/320/320.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/320/320.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/320/320.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/320/320.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/320/320.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/320/320.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/321/321.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/321/321.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/321/321.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/321/321.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/321/321.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/321/321.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/321/321.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/321/321.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/321/321.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/322/322.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/322/322.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/322/322.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/322/322.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/322/322.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/322/322.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/322/322.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/322/322.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/322/322.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/323/323.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/323/323.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/323/323.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/323/323.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/323/323.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/323/323.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/323/323.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/323/323.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/323/323.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/324/324.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/324/324.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/324/324.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/324/324.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/324/324.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/324/324.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/324/324.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/324/324.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/324/324.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/325/325.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/325/325.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/325/325.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/325/325.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/325/325.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/325/325.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/325/325.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/325/325.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/325/325.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/326/326.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/326/326.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/326/326.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/326/326.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/326/326.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/326/326.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/326/326.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/326/326.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/326/326.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/327/327.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/327/327.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/327/327.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/327/327.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/327/327.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/327/327.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/327/327.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/327/327.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/327/327.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/328/328.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/328/328.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/328/328.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/328/328.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/328/328.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/328/328.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/328/328.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/328/328.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/328/328.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/329/329.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/329/329.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/329/329.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/329/329.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/329/329.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/329/329.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/329/329.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/329/329.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/329/329.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/330/330.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/330/330.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/330/330.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/330/330.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/330/330.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/330/330.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/330/330.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/330/330.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/330/330.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/331/331.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/331/331.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/331/331.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/331/331.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/331/331.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/331/331.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/331/331.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/331/331.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/331/331.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/332/332.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/332/332.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/332/332.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/332/332.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/332/332.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/332/332.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/332/332.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/332/332.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/332/332.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/333/333.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/333/333.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/333/333.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/333/333.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/333/333.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/333/333.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/333/333.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/333/333.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/333/333.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/334/334.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/334/334.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/334/334.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/334/334.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/334/334.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/334/334.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/334/334.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/334/334.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/334/334.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/335/335.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/335/335.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/335/335.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/335/335.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/335/335.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/335/335.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/335/335.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/335/335.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/335/335.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/336/336.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/336/336.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/336/336.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/336/336.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/336/336.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/336/336.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/336/336.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/336/336.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/336/336.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/337/337.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/337/337.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/337/337.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/337/337.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/337/337.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/337/337.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/337/337.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/337/337.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/337/337.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/338/338.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/338/338.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/338/338.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/338/338.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/338/338.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/338/338.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/338/338.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/338/338.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/338/338.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/339/339.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/339/339.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/339/339.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/339/339.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/339/339.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/339/339.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/339/339.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/339/339.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/339/339.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/340/340.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/340/340.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/340/340.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/340/340.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/340/340.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/340/340.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/340/340.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/340/340.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/340/340.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/341/341.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/341/341.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/341/341.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/341/341.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/341/341.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/341/341.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/341/341.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/341/341.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/341/341.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/342/342.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/342/342.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/342/342.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/342/342.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/342/342.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/342/342.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/342/342.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/342/342.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/342/342.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/343/343.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/343/343.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/343/343.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/343/343.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/343/343.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/343/343.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/343/343.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/343/343.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/343/343.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/344/344.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/344/344.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/344/344.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/344/344.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/344/344.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/344/344.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/344/344.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/344/344.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/344/344.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/345/345.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/345/345.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/345/345.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/345/345.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/345/345.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/345/345.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/345/345.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/345/345.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/345/345.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/346/346.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/346/346.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/346/346.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/346/346.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/346/346.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/346/346.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/346/346.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/346/346.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/346/346.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/347/347.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/347/347.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/347/347.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/347/347.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/347/347.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/347/347.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/347/347.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/347/347.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/347/347.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/348/348.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/348/348.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/348/348.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/348/348.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/348/348.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/348/348.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/348/348.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/348/348.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/348/348.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/349/349.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/349/349.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/349/349.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/349/349.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/349/349.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/349/349.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/349/349.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/349/349.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/349/349.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/350/350.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/350/350.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/350/350.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/350/350.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/350/350.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/350/350.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/350/350.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/350/350.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/350/350.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/351/351.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/351/351.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/351/351.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/351/351.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/351/351.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/351/351.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/351/351.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/351/351.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/351/351.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/352/352.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/352/352.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/352/352.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/352/352.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/352/352.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/352/352.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/352/352.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/352/352.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/352/352.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/353/353.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/353/353.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/353/353.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/353/353.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/353/353.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/353/353.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/353/353.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/353/353.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/353/353.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/354/354.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/354/354.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/354/354.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/354/354.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/354/354.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/354/354.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/354/354.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/354/354.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/354/354.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/355/355.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/355/355.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/355/355.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/355/355.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/355/355.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/355/355.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/355/355.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/355/355.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/355/355.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/356/356.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/356/356.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/356/356.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/356/356.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/356/356.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/356/356.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/356/356.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/356/356.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/356/356.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/357/357.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/357/357.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/357/357.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/357/357.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/357/357.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/357/357.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/357/357.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/357/357.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/357/357.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/358/358.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/358/358.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/358/358.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/358/358.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/358/358.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/358/358.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/358/358.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/358/358.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/358/358.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/359/359.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/359/359.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/359/359.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/359/359.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/359/359.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/359/359.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/359/359.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/359/359.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/359/359.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/360/360.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/360/360.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/360/360.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/360/360.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/360/360.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/360/360.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/360/360.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/360/360.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/360/360.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/361/361.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/361/361.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/361/361.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/361/361.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/361/361.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/361/361.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/361/361.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/361/361.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/361/361.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/362/362.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/362/362.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/362/362.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/362/362.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/362/362.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/362/362.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/362/362.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/362/362.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/362/362.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/363/363.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/363/363.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/363/363.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/363/363.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/363/363.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/363/363.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/363/363.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/363/363.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/363/363.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/364/364.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/364/364.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/364/364.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/364/364.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/364/364.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/364/364.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/364/364.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/364/364.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/364/364.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/365/365.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/365/365.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/365/365.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/365/365.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/365/365.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/365/365.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/365/365.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/365/365.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/365/365.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/366/366.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/366/366.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/366/366.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/366/366.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/366/366.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/366/366.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/366/366.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/366/366.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/366/366.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/367/367.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/367/367.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/367/367.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/367/367.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/367/367.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/367/367.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/367/367.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/367/367.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/367/367.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/368/368.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/368/368.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/368/368.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/368/368.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/368/368.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/368/368.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/368/368.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/368/368.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/368/368.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/369/369.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/369/369.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/369/369.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/369/369.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/369/369.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/369/369.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/369/369.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/369/369.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/369/369.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/370/370.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/370/370.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/370/370.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/370/370.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/370/370.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/370/370.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/370/370.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/370/370.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/370/370.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/371/371.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/371/371.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/371/371.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/371/371.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/371/371.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/371/371.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/371/371.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/371/371.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/371/371.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/372/372.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/372/372.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/372/372.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/372/372.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/372/372.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/372/372.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/372/372.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/372/372.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/372/372.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/373/373.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/373/373.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/373/373.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/373/373.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/373/373.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/373/373.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/373/373.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/373/373.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/373/373.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/374/374.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/374/374.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/374/374.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/374/374.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/374/374.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/374/374.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/374/374.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/374/374.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/374/374.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/375/375.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/375/375.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/375/375.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/375/375.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/375/375.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/375/375.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/375/375.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/375/375.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/375/375.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/376/376.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/376/376.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/376/376.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/376/376.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/376/376.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/376/376.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/376/376.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/376/376.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/376/376.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/377/377.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/377/377.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/377/377.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/377/377.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/377/377.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/377/377.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/377/377.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/377/377.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/377/377.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/378/378.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/378/378.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/378/378.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/378/378.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/378/378.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/378/378.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/378/378.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/378/378.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/378/378.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/379/379.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/379/379.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/379/379.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/379/379.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/379/379.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/379/379.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/379/379.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/379/379.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/379/379.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/380/380.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/380/380.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/380/380.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/380/380.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/380/380.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/380/380.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/380/380.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/380/380.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/380/380.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/381/381.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/381/381.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/381/381.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/381/381.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/381/381.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/381/381.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/381/381.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/381/381.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/381/381.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/382/382.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/382/382.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/382/382.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/382/382.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/382/382.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/382/382.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/382/382.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/382/382.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/382/382.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/383/383.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/383/383.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/383/383.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/383/383.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/383/383.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/383/383.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/383/383.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/383/383.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/383/383.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/384/384.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/384/384.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/384/384.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/384/384.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/384/384.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/384/384.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/384/384.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/384/384.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/384/384.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/385/385.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/385/385.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/385/385.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/385/385.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/385/385.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/385/385.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/385/385.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/385/385.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/385/385.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/386/386.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/386/386.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/386/386.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/386/386.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/386/386.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/386/386.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/386/386.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/386/386.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/386/386.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/387/387.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/387/387.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/387/387.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/387/387.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/387/387.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/387/387.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/387/387.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/387/387.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/387/387.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/388/388.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/388/388.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/388/388.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/388/388.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/388/388.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/388/388.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/388/388.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/388/388.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/388/388.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/389/389.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/389/389.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/389/389.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/389/389.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/389/389.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/389/389.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/389/389.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/389/389.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/389/389.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/390/390.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/390/390.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/390/390.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/390/390.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/390/390.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/390/390.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/390/390.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/390/390.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/390/390.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/391/391.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/391/391.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/391/391.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/391/391.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/391/391.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/391/391.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/391/391.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/391/391.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/391/391.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/392/392.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/392/392.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/392/392.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/392/392.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/392/392.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/392/392.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/392/392.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/392/392.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/392/392.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/393/393.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/393/393.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/393/393.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/393/393.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/393/393.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/393/393.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/393/393.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/393/393.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/393/393.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/394/394.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/394/394.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/394/394.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/394/394.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/394/394.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/394/394.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/394/394.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/394/394.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/394/394.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/395/395.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/395/395.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/395/395.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/395/395.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/395/395.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/395/395.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/395/395.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/395/395.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/395/395.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/396/396.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/396/396.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/396/396.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/396/396.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/396/396.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/396/396.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/396/396.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/396/396.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/396/396.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/397/397.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/397/397.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/397/397.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/397/397.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/397/397.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/397/397.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/397/397.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/397/397.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/397/397.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/398/398.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/398/398.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/398/398.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/398/398.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/398/398.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/398/398.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/398/398.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/398/398.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/398/398.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/399/399.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/399/399.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/399/399.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/399/399.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/399/399.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/399/399.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/399/399.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/399/399.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/399/399.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/400/400.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/400/400.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/400/400.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/400/400.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/400/400.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/400/400.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/400/400.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/400/400.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/400/400.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/401/401.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/401/401.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/401/401.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/401/401.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/401/401.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/401/401.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/401/401.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/401/401.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/401/401.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/402/402.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/402/402.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/402/402.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/402/402.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/402/402.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/402/402.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/402/402.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/402/402.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/402/402.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/403/403.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/403/403.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/403/403.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/403/403.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/403/403.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/403/403.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/403/403.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/403/403.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/403/403.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/404/404.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/404/404.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/404/404.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/404/404.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/404/404.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/404/404.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/404/404.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/404/404.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/404/404.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/405/405.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/405/405.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/405/405.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/405/405.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/405/405.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/405/405.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/405/405.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/405/405.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/405/405.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/406/406.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/406/406.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/406/406.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/406/406.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/406/406.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/406/406.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/406/406.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/406/406.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/406/406.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/407/407.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/407/407.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/407/407.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/407/407.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/407/407.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/407/407.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/407/407.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/407/407.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/407/407.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/408/408.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/408/408.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/408/408.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/408/408.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/408/408.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/408/408.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/408/408.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/408/408.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/408/408.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/409/409.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/409/409.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/409/409.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/409/409.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/409/409.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/409/409.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/409/409.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/409/409.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/409/409.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/410/410.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/410/410.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/410/410.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/410/410.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/410/410.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/410/410.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/410/410.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/410/410.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/410/410.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/411/411.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/411/411.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/411/411.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/411/411.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/411/411.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/411/411.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/411/411.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/411/411.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/411/411.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/412/412.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/412/412.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/412/412.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/412/412.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/412/412.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/412/412.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/412/412.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/412/412.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/412/412.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/413/413.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/413/413.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/413/413.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/413/413.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/413/413.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/413/413.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/413/413.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/413/413.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/413/413.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/414/414.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/414/414.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/414/414.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/414/414.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/414/414.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/414/414.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/414/414.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/414/414.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/414/414.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/415/415.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/415/415.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/415/415.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/415/415.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/415/415.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/415/415.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/415/415.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/415/415.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/415/415.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/416/416.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/416/416.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/416/416.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/416/416.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/416/416.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/416/416.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/416/416.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/416/416.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/416/416.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/417/417.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/417/417.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/417/417.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/417/417.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/417/417.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/417/417.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/417/417.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/417/417.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/417/417.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/418/418.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/418/418.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/418/418.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/418/418.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/418/418.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/418/418.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/418/418.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/418/418.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/418/418.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/419/419.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/419/419.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/419/419.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/419/419.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/419/419.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/419/419.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/419/419.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/419/419.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/419/419.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/420/420.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/420/420.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/420/420.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/420/420.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/420/420.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/420/420.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/420/420.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/420/420.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/420/420.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/421/421.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/421/421.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/421/421.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/421/421.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/421/421.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/421/421.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/421/421.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/421/421.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/421/421.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/422/422.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/422/422.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/422/422.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/422/422.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/422/422.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/422/422.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/422/422.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/422/422.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/422/422.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/423/423.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/423/423.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/423/423.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/423/423.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/423/423.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/423/423.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/423/423.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/423/423.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/423/423.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/424/424.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/424/424.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/424/424.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/424/424.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/424/424.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/424/424.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/424/424.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/424/424.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/424/424.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/425/425.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/425/425.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/425/425.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/425/425.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/425/425.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/425/425.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/425/425.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/425/425.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/425/425.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/426/426.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/426/426.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/426/426.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/426/426.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/426/426.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/426/426.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/426/426.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/426/426.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/426/426.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/427/427.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/427/427.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/427/427.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/427/427.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/427/427.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/427/427.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/427/427.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/427/427.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/427/427.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/428/428.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/428/428.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/428/428.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/428/428.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/428/428.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/428/428.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/428/428.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/428/428.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/428/428.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/429/429.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/429/429.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/429/429.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/429/429.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/429/429.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/429/429.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/429/429.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/429/429.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/429/429.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/430/430.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/430/430.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/430/430.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/430/430.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/430/430.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/430/430.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/430/430.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/430/430.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/430/430.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/431/431.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/431/431.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/431/431.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/431/431.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/431/431.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/431/431.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/431/431.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/431/431.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/431/431.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/432/432.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/432/432.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/432/432.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/432/432.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/432/432.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/432/432.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/432/432.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/432/432.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/432/432.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/433/433.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/433/433.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/433/433.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/433/433.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/433/433.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/433/433.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/433/433.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/433/433.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/433/433.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/434/434.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/434/434.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/434/434.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/434/434.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/434/434.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/434/434.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/434/434.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/434/434.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/434/434.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/435/435.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/435/435.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/435/435.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/435/435.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/435/435.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/435/435.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/435/435.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/435/435.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/435/435.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/436/436.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/436/436.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/436/436.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/436/436.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/436/436.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/436/436.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/436/436.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/436/436.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/436/436.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/437/437.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/437/437.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/437/437.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/437/437.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/437/437.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/437/437.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/437/437.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/437/437.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/437/437.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/438/438.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/438/438.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/438/438.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/438/438.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/438/438.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/438/438.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/438/438.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/438/438.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/438/438.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/439/439.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/439/439.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/439/439.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/439/439.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/439/439.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/439/439.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/439/439.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/439/439.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/439/439.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/440/440.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/440/440.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/440/440.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/440/440.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/440/440.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/440/440.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/440/440.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/440/440.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/440/440.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/441/441.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/441/441.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/441/441.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/441/441.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/441/441.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/441/441.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/441/441.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/441/441.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/441/441.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/442/442.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/442/442.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/442/442.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/442/442.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/442/442.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/442/442.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/442/442.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/442/442.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/442/442.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/443/443.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/443/443.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/443/443.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/443/443.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/443/443.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/443/443.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/443/443.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/443/443.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/443/443.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/444/444.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/444/444.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/444/444.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/444/444.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/444/444.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/444/444.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/444/444.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/444/444.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/444/444.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/445/445.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/445/445.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/445/445.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/445/445.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/445/445.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/445/445.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/445/445.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/445/445.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/445/445.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/446/446.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/446/446.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/446/446.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/446/446.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/446/446.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/446/446.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/446/446.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/446/446.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/446/446.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/447/447.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/447/447.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/447/447.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/447/447.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/447/447.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/447/447.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/447/447.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/447/447.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/447/447.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/448/448.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/448/448.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/448/448.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/448/448.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/448/448.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/448/448.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/448/448.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/448/448.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/448/448.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/449/449.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/449/449.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/449/449.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/449/449.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/449/449.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/449/449.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/449/449.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/449/449.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/449/449.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/450/450.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/450/450.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/450/450.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/450/450.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/450/450.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/450/450.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/450/450.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/450/450.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/450/450.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/451/451.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/451/451.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/451/451.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/451/451.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/451/451.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/451/451.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/451/451.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/451/451.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/451/451.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/452/452.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/452/452.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/452/452.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/452/452.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/452/452.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/452/452.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/452/452.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/452/452.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/452/452.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/453/453.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/453/453.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/453/453.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/453/453.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/453/453.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/453/453.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/453/453.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/453/453.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/453/453.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/454/454.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/454/454.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/454/454.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/454/454.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/454/454.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/454/454.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/454/454.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/454/454.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/454/454.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/455/455.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/455/455.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/455/455.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/455/455.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/455/455.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/455/455.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/455/455.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/455/455.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/455/455.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/456/456.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/456/456.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/456/456.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/456/456.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/456/456.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/456/456.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/456/456.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/456/456.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/456/456.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/457/457.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/457/457.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/457/457.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/457/457.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/457/457.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/457/457.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/457/457.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/457/457.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/457/457.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/458/458.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/458/458.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/458/458.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/458/458.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/458/458.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/458/458.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/458/458.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/458/458.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/458/458.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/459/459.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/459/459.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/459/459.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/459/459.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/459/459.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/459/459.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/459/459.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/459/459.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/459/459.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/460/460.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/460/460.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/460/460.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/460/460.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/460/460.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/460/460.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/460/460.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/460/460.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/460/460.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/461/461.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/461/461.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/461/461.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/461/461.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/461/461.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/461/461.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/461/461.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/461/461.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/461/461.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/462/462.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/462/462.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/462/462.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/462/462.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/462/462.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/462/462.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/462/462.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/462/462.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/462/462.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/463/463.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/463/463.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/463/463.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/463/463.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/463/463.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/463/463.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/463/463.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/463/463.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/463/463.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/464/464.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/464/464.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/464/464.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/464/464.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/464/464.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/464/464.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/464/464.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/464/464.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/464/464.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/465/465.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/465/465.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/465/465.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/465/465.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/465/465.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/465/465.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/465/465.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/465/465.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/465/465.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/466/466.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/466/466.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/466/466.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/466/466.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/466/466.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/466/466.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/466/466.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/466/466.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/466/466.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/467/467.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/467/467.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/467/467.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/467/467.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/467/467.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/467/467.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/467/467.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/467/467.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/467/467.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/468/468.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/468/468.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/468/468.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/468/468.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/468/468.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/468/468.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/468/468.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/468/468.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/468/468.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/469/469.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/469/469.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/469/469.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/469/469.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/469/469.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/469/469.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/469/469.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/469/469.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/469/469.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/470/470.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/470/470.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/470/470.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/470/470.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/470/470.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/470/470.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/470/470.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/470/470.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/470/470.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/471/471.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/471/471.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/471/471.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/471/471.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/471/471.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/471/471.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/471/471.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/471/471.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/471/471.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/472/472.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/472/472.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/472/472.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/472/472.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/472/472.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/472/472.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/472/472.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/472/472.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/472/472.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/473/473.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/473/473.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/473/473.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/473/473.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/473/473.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/473/473.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/473/473.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/473/473.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/473/473.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/474/474.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/474/474.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/474/474.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/474/474.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/474/474.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/474/474.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/474/474.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/474/474.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/474/474.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/475/475.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/475/475.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/475/475.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/475/475.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/475/475.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/475/475.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/475/475.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/475/475.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/475/475.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/476/476.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/476/476.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/476/476.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/476/476.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/476/476.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/476/476.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/476/476.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/476/476.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/476/476.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/477/477.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/477/477.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/477/477.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/477/477.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/477/477.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/477/477.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/477/477.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/477/477.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/477/477.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/478/478.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/478/478.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/478/478.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/478/478.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/478/478.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/478/478.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/478/478.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/478/478.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/478/478.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/479/479.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/479/479.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/479/479.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/479/479.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/479/479.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/479/479.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/479/479.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/479/479.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/479/479.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/480/480.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/480/480.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/480/480.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/480/480.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/480/480.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/480/480.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/480/480.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/480/480.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/480/480.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/481/481.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/481/481.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/481/481.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/481/481.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/481/481.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/481/481.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/481/481.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/481/481.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/481/481.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/482/482.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/482/482.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/482/482.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/482/482.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/482/482.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/482/482.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/482/482.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/482/482.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/482/482.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/483/483.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/483/483.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/483/483.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/483/483.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/483/483.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/483/483.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/483/483.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/483/483.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/483/483.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/484/484.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/484/484.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/484/484.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/484/484.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/484/484.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/484/484.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/484/484.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/484/484.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/484/484.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/485/485.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/485/485.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/485/485.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/485/485.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/485/485.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/485/485.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/485/485.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/485/485.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/485/485.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/486/486.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/486/486.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/486/486.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/486/486.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/486/486.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/486/486.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/486/486.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/486/486.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/486/486.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/487/487.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/487/487.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/487/487.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/487/487.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/487/487.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/487/487.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/487/487.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/487/487.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/487/487.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/488/488.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/488/488.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/488/488.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/488/488.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/488/488.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/488/488.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/488/488.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/488/488.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/488/488.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/489/489.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/489/489.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/489/489.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/489/489.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/489/489.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/489/489.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/489/489.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/489/489.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/489/489.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/490/490.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/490/490.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/490/490.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/490/490.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/490/490.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/490/490.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/490/490.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/490/490.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/490/490.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/491/491.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/491/491.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/491/491.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/491/491.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/491/491.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/491/491.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/491/491.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/491/491.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/491/491.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/492/492.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/492/492.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/492/492.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/492/492.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/492/492.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/492/492.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/492/492.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/492/492.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/492/492.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/493/493.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/493/493.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/493/493.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/493/493.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/493/493.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/493/493.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/493/493.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/493/493.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/493/493.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/494/494.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/494/494.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/494/494.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/494/494.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/494/494.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/494/494.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/494/494.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/494/494.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/494/494.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/495/495.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/495/495.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/495/495.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/495/495.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/495/495.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/495/495.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/495/495.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/495/495.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/495/495.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/496/496.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/496/496.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/496/496.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/496/496.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/496/496.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/496/496.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/496/496.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/496/496.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/496/496.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/497/497.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/497/497.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/497/497.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/497/497.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/497/497.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/497/497.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/497/497.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/497/497.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/497/497.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/498/498.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/498/498.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/498/498.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/498/498.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/498/498.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/498/498.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/498/498.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/498/498.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/498/498.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/499/499.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/499/499.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/499/499.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/499/499.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/499/499.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/499/499.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/499/499.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/499/499.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/499/499.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/500/500.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/500/500.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/500/500.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/500/500.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/500/500.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/500/500.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/500/500.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/500/500.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/500/500.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/501/501.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/501/501.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/501/501.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/501/501.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/501/501.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/501/501.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/501/501.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/501/501.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/501/501.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/502/502.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/502/502.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/502/502.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/502/502.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/502/502.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/502/502.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/502/502.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/502/502.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/502/502.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/503/503.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/503/503.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/503/503.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/503/503.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/503/503.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/503/503.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/503/503.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/503/503.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/503/503.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/504/504.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/504/504.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/504/504.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/504/504.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/504/504.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/504/504.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/504/504.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/504/504.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/504/504.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/505/505.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/505/505.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/505/505.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/505/505.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/505/505.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/505/505.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/505/505.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/505/505.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/505/505.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/506/506.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/506/506.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/506/506.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/506/506.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/506/506.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/506/506.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/506/506.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/506/506.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/506/506.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/507/507.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/507/507.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/507/507.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/507/507.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/507/507.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/507/507.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/507/507.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/507/507.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/507/507.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/508/508.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/508/508.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/508/508.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/508/508.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/508/508.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/508/508.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/508/508.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/508/508.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/508/508.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/509/509.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/509/509.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/509/509.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/509/509.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/509/509.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/509/509.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/509/509.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/509/509.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/509/509.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/510/510.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/510/510.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/510/510.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/510/510.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/510/510.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/510/510.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/510/510.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/510/510.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/510/510.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/511/511.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/511/511.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/511/511.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/511/511.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/511/511.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/511/511.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/511/511.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/511/511.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/511/511.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/512/512.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/512/512.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/512/512.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/512/512.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/512/512.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/512/512.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/512/512.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/512/512.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/512/512.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/513/513.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/513/513.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/513/513.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/513/513.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/513/513.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/513/513.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/513/513.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/513/513.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/513/513.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/514/514.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/514/514.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/514/514.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/514/514.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/514/514.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/514/514.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/514/514.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/514/514.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/514/514.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/515/515.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/515/515.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/515/515.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/515/515.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/515/515.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/515/515.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/515/515.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/515/515.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/515/515.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/516/516.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/516/516.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/516/516.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/516/516.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/516/516.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/516/516.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/516/516.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/516/516.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/516/516.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/517/517.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/517/517.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/517/517.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/517/517.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/517/517.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/517/517.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/517/517.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/517/517.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/517/517.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/518/518.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/518/518.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/518/518.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/518/518.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/518/518.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/518/518.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/518/518.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/518/518.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/518/518.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/519/519.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/519/519.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/519/519.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/519/519.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/519/519.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/519/519.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/519/519.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/519/519.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/519/519.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/520/520.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/520/520.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/520/520.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/520/520.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/520/520.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/520/520.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/520/520.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/520/520.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/520/520.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/521/521.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/521/521.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/521/521.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/521/521.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/521/521.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/521/521.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/521/521.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/521/521.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/521/521.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/522/522.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/522/522.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/522/522.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/522/522.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/522/522.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/522/522.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/522/522.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/522/522.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/522/522.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/523/523.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/523/523.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/523/523.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/523/523.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/523/523.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/523/523.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/523/523.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/523/523.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/523/523.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/524/524.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/524/524.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/524/524.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/524/524.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/524/524.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/524/524.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/524/524.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/524/524.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/524/524.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/525/525.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/525/525.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/525/525.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/525/525.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/525/525.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/525/525.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/525/525.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/525/525.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/525/525.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/526/526.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/526/526.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/526/526.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/526/526.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/526/526.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/526/526.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/526/526.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/526/526.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/526/526.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/527/527.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/527/527.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/527/527.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/527/527.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/527/527.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/527/527.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/527/527.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/527/527.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/527/527.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/528/528.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/528/528.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/528/528.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/528/528.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/528/528.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/528/528.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/528/528.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/528/528.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/528/528.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/529/529.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/529/529.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/529/529.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/529/529.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/529/529.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/529/529.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/529/529.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/529/529.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/529/529.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/530/530.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/530/530.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/530/530.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/530/530.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/530/530.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/530/530.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/530/530.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/530/530.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/530/530.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/531/531.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/531/531.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/531/531.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/531/531.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/531/531.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/531/531.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/531/531.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/531/531.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/531/531.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/532/532.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/532/532.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/532/532.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/532/532.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/532/532.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/532/532.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/532/532.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/532/532.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/532/532.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/533/533.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/533/533.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/533/533.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/533/533.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/533/533.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/533/533.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/533/533.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/533/533.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/533/533.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/534/534.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/534/534.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/534/534.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/534/534.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/534/534.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/534/534.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/534/534.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/534/534.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/534/534.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/535/535.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/535/535.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/535/535.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/535/535.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/535/535.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/535/535.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/535/535.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/535/535.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/535/535.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/536/536.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/536/536.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/536/536.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/536/536.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/536/536.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/536/536.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/536/536.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/536/536.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/536/536.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/537/537.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/537/537.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/537/537.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/537/537.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/537/537.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/537/537.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/537/537.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/537/537.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/537/537.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/538/538.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/538/538.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/538/538.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/538/538.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/538/538.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/538/538.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/538/538.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/538/538.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/538/538.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/539/539.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/539/539.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/539/539.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/539/539.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/539/539.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/539/539.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/539/539.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/539/539.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/539/539.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/540/540.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/540/540.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/540/540.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/540/540.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/540/540.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/540/540.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/540/540.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/540/540.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/540/540.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/541/541.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/541/541.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/541/541.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/541/541.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/541/541.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/541/541.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/541/541.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/541/541.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/541/541.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/542/542.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/542/542.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/542/542.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/542/542.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/542/542.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/542/542.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/542/542.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/542/542.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/542/542.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/543/543.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/543/543.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/543/543.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/543/543.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/543/543.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/543/543.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/543/543.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/543/543.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/543/543.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/544/544.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/544/544.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/544/544.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/544/544.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/544/544.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/544/544.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/544/544.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/544/544.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/544/544.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/545/545.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/545/545.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/545/545.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/545/545.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/545/545.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/545/545.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/545/545.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/545/545.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/545/545.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/546/546.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/546/546.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/546/546.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/546/546.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/546/546.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/546/546.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/546/546.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/546/546.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/546/546.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/547/547.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/547/547.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/547/547.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/547/547.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/547/547.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/547/547.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/547/547.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/547/547.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/547/547.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/548/548.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/548/548.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/548/548.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/548/548.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/548/548.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/548/548.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/548/548.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/548/548.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/548/548.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/549/549.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/549/549.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/549/549.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/549/549.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/549/549.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/549/549.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/549/549.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/549/549.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/549/549.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/550/550.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/550/550.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/550/550.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/550/550.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/550/550.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/550/550.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/550/550.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/550/550.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/550/550.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/551/551.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/551/551.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/551/551.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/551/551.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/551/551.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/551/551.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/551/551.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/551/551.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/551/551.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/552/552.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/552/552.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/552/552.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/552/552.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/552/552.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/552/552.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/552/552.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/552/552.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/552/552.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/553/553.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/553/553.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/553/553.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/553/553.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/553/553.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/553/553.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/553/553.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/553/553.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/553/553.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/554/554.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/554/554.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/554/554.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/554/554.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/554/554.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/554/554.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/554/554.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/554/554.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/554/554.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/555/555.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/555/555.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/555/555.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/555/555.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/555/555.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/555/555.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/555/555.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/555/555.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/555/555.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/556/556.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/556/556.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/556/556.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/556/556.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/556/556.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/556/556.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/556/556.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/556/556.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/556/556.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/557/557.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/557/557.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/557/557.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/557/557.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/557/557.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/557/557.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/557/557.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/557/557.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/557/557.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/558/558.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/558/558.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/558/558.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/558/558.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/558/558.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/558/558.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/558/558.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/558/558.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/558/558.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/559/559.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/559/559.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/559/559.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/559/559.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/559/559.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/559/559.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/559/559.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/559/559.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/559/559.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/560/560.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/560/560.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/560/560.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/560/560.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/560/560.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/560/560.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/560/560.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/560/560.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/560/560.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/561/561.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/561/561.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/561/561.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/561/561.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/561/561.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/561/561.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/561/561.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/561/561.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/561/561.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/562/562.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/562/562.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/562/562.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/562/562.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/562/562.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/562/562.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/562/562.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/562/562.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/562/562.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/563/563.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/563/563.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/563/563.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/563/563.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/563/563.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/563/563.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/563/563.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/563/563.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/563/563.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/564/564.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/564/564.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/564/564.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/564/564.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/564/564.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/564/564.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/564/564.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/564/564.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/564/564.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/565/565.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/565/565.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/565/565.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/565/565.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/565/565.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/565/565.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/565/565.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/565/565.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/565/565.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/566/566.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/566/566.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/566/566.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/566/566.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/566/566.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/566/566.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/566/566.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/566/566.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/566/566.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/567/567.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/567/567.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/567/567.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/567/567.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/567/567.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/567/567.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/567/567.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/567/567.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/567/567.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/568/568.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/568/568.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/568/568.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/568/568.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/568/568.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/568/568.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/568/568.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/568/568.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/569/569.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/569/569.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/569/569.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/569/569.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/569/569.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/569/569.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/569/569.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/569/569.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/569/569.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/570/570.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/570/570.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/570/570.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/570/570.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/570/570.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/570/570.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/570/570.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/570/570.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/570/570.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/571/571.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/571/571.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/571/571.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/571/571.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/571/571.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/571/571.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/571/571.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/571/571.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/571/571.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/572/572.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/572/572.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/572/572.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/572/572.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/572/572.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/572/572.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/572/572.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/572/572.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/572/572.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/573/573.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/573/573.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/573/573.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/573/573.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/573/573.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/573/573.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/573/573.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/573/573.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/573/573.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/574/574.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/574/574.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/574/574.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/574/574.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/574/574.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/574/574.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/574/574.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/574/574.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/574/574.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/575/575.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/575/575.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/575/575.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/575/575.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/575/575.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/575/575.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/575/575.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/575/575.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/575/575.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/576/576.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/576/576.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/576/576.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/576/576.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/576/576.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/576/576.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/576/576.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/576/576.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/576/576.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/577/577.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/577/577.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/577/577.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/577/577.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/577/577.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/577/577.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/577/577.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/577/577.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/577/577.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/578/578.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/578/578.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/578/578.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/578/578.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/578/578.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/578/578.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/578/578.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/578/578.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/578/578.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/579/579.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/579/579.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/579/579.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/579/579.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/579/579.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/579/579.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/579/579.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/579/579.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/579/579.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/580/580.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/580/580.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/580/580.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/580/580.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/580/580.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/580/580.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/580/580.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/580/580.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/580/580.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/581/581.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/581/581.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/581/581.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/581/581.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/581/581.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/581/581.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/581/581.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/581/581.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/581/581.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/582/582.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/582/582.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/582/582.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/582/582.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/582/582.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/582/582.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/582/582.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/582/582.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/582/582.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/583/583.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/583/583.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/583/583.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/583/583.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/583/583.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/583/583.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/583/583.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/583/583.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/583/583.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/584/584.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/584/584.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/584/584.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/584/584.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/584/584.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/584/584.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/584/584.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/584/584.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/584/584.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/585/585.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/585/585.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/585/585.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/585/585.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/585/585.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/585/585.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/585/585.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/585/585.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/585/585.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/586/586.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/586/586.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/586/586.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/586/586.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/586/586.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/586/586.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/586/586.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/586/586.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/586/586.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/587/587.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/587/587.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/587/587.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/587/587.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/587/587.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/587/587.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/587/587.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/587/587.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/587/587.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/588/588.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/588/588.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/588/588.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/588/588.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/588/588.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/588/588.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/588/588.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/588/588.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/588/588.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/589/589.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/589/589.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/589/589.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/589/589.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/589/589.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/589/589.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/589/589.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/589/589.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/589/589.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/590/590.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/590/590.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/590/590.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/590/590.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/590/590.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/590/590.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/590/590.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/590/590.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/590/590.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/591/591.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/591/591.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/591/591.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/591/591.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/591/591.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/591/591.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/591/591.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/591/591.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/591/591.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/592/592.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/592/592.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/592/592.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/592/592.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/592/592.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/592/592.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/592/592.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/592/592.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/592/592.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/593/593.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/593/593.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/593/593.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/593/593.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/593/593.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/593/593.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/593/593.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/593/593.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/593/593.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/594/594.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/594/594.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/594/594.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/594/594.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/594/594.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/594/594.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/594/594.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/594/594.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/594/594.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/595/595.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/595/595.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/595/595.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/595/595.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/595/595.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/595/595.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/595/595.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/595/595.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/595/595.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/596/596.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/596/596.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/596/596.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/596/596.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/596/596.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/596/596.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/596/596.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/596/596.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/596/596.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/597/597.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/597/597.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/597/597.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/597/597.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/597/597.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/597/597.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/597/597.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/597/597.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/597/597.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/598/598.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/598/598.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/598/598.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/598/598.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/598/598.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/598/598.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/598/598.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/598/598.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/598/598.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/599/599.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/599/599.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/599/599.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/599/599.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/599/599.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/599/599.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/599/599.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/599/599.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/599/599.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/600/600.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/600/600.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/600/600.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/600/600.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/600/600.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/600/600.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/600/600.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/600/600.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/600/600.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/601/601.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/601/601.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/601/601.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/601/601.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/601/601.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/601/601.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/601/601.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/601/601.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/601/601.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/602/602.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/602/602.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/602/602.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/602/602.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/602/602.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/602/602.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/602/602.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/602/602.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/602/602.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/603/603.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/603/603.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/603/603.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/603/603.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/603/603.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/603/603.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/603/603.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/603/603.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/603/603.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/604/604.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/604/604.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/604/604.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/604/604.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/604/604.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/604/604.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/604/604.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/604/604.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/604/604.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/605/605.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/605/605.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/605/605.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/605/605.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/605/605.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/605/605.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/605/605.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/605/605.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/605/605.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/606/606.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/606/606.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/606/606.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/606/606.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/606/606.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/606/606.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/606/606.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/606/606.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/606/606.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/607/607.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/607/607.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/607/607.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/607/607.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/607/607.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/607/607.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/607/607.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/607/607.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/607/607.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/608/608.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/608/608.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/608/608.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/608/608.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/608/608.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/608/608.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/608/608.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/608/608.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/608/608.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/609/609.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/609/609.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/609/609.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/609/609.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/609/609.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/609/609.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/609/609.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/609/609.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/609/609.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/610/610.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/610/610.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/610/610.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/610/610.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/610/610.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/610/610.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/610/610.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/610/610.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/610/610.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/611/611.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/611/611.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/611/611.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/611/611.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/611/611.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/611/611.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/611/611.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/611/611.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/611/611.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/612/612.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/612/612.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/612/612.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/612/612.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/612/612.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/612/612.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/612/612.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/612/612.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/612/612.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/613/613.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/613/613.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/613/613.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/613/613.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/613/613.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/613/613.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/613/613.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/613/613.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/613/613.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/614/614.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/614/614.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/614/614.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/614/614.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/614/614.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/614/614.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/614/614.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/614/614.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/614/614.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/615/615.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/615/615.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/615/615.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/615/615.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/615/615.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/615/615.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/615/615.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/615/615.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/615/615.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/616/616.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/616/616.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/616/616.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/616/616.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/616/616.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/616/616.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/616/616.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/616/616.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/616/616.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/617/617.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/617/617.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/617/617.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/617/617.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/617/617.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/617/617.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/617/617.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/617/617.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/617/617.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/618/618.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/618/618.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/618/618.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/618/618.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/618/618.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/618/618.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/618/618.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/618/618.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/618/618.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/619/619.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/619/619.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/619/619.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/619/619.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/619/619.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/619/619.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/619/619.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/619/619.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/619/619.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/620/620.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/620/620.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/620/620.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/620/620.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/620/620.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/620/620.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/620/620.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/620/620.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/620/620.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/621/621.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/621/621.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/621/621.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/621/621.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/621/621.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/621/621.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/621/621.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/621/621.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/621/621.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/622/622.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/622/622.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/622/622.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/622/622.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/622/622.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/622/622.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/622/622.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/622/622.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/622/622.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/623/623.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/623/623.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/623/623.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/623/623.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/623/623.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/623/623.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/623/623.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/623/623.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/623/623.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/624/624.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/624/624.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/624/624.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/624/624.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/624/624.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/624/624.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/624/624.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/624/624.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/624/624.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/625/625.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/625/625.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/625/625.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/625/625.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/625/625.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/625/625.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/625/625.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/625/625.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/625/625.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/626/626.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/626/626.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/626/626.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/626/626.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/626/626.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/626/626.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/626/626.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/626/626.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/626/626.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/627/627.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/627/627.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/627/627.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/627/627.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/627/627.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/627/627.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/627/627.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/627/627.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/627/627.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/628/628.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/628/628.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/628/628.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/628/628.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/628/628.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/628/628.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/628/628.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/628/628.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/628/628.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/629/629.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/629/629.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/629/629.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/629/629.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/629/629.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/629/629.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/629/629.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/629/629.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/629/629.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/630/630.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/630/630.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/630/630.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/630/630.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/630/630.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/630/630.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/630/630.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/630/630.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/630/630.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/631/631.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/631/631.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/631/631.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/631/631.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/631/631.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/631/631.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/631/631.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/631/631.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/631/631.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/632/632.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/632/632.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/632/632.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/632/632.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/632/632.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/632/632.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/632/632.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/632/632.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/632/632.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/633/633.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/633/633.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/633/633.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/633/633.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/633/633.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/633/633.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/633/633.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/633/633.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/633/633.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/634/634.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/634/634.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/634/634.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/634/634.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/634/634.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/634/634.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/634/634.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/634/634.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/634/634.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/635/635.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/635/635.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/635/635.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/635/635.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/635/635.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/635/635.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/635/635.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/635/635.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/635/635.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/636/636.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/636/636.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/636/636.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/636/636.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/636/636.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/636/636.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/636/636.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/636/636.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/636/636.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/637/637.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/637/637.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/637/637.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/637/637.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/637/637.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/637/637.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/637/637.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/637/637.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/637/637.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/638/638.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/638/638.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/638/638.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/638/638.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/638/638.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/638/638.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/638/638.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/638/638.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/638/638.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/639/639.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/639/639.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/639/639.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/639/639.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/639/639.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/639/639.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/639/639.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/639/639.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/639/639.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/640/640.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/640/640.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/640/640.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/640/640.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/640/640.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/640/640.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/640/640.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/640/640.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/640/640.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/641/641.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/641/641.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/641/641.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/641/641.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/641/641.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/641/641.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/641/641.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/641/641.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/641/641.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/642/642.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/642/642.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/642/642.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/642/642.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/642/642.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/642/642.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/642/642.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/642/642.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/642/642.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/643/643.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/643/643.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/643/643.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/643/643.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/643/643.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/643/643.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/643/643.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/643/643.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/643/643.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/644/644.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/644/644.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/644/644.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/644/644.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/644/644.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/644/644.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/644/644.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/644/644.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/644/644.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/645/645.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/645/645.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/645/645.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/645/645.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/645/645.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/645/645.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/645/645.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/645/645.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/645/645.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/646/646.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/646/646.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/646/646.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/646/646.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/646/646.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/646/646.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/646/646.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/646/646.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/646/646.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/647/647.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/647/647.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/647/647.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/647/647.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/647/647.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/647/647.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/647/647.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/647/647.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/647/647.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/648/648.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/648/648.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/648/648.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/648/648.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/648/648.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/648/648.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/648/648.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/648/648.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/648/648.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/649/649.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/649/649.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/649/649.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/649/649.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/649/649.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/649/649.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/649/649.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/649/649.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/649/649.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/650/650.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/650/650.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/650/650.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/650/650.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/650/650.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/650/650.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/650/650.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/650/650.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/650/650.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/651/651.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/651/651.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/651/651.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/651/651.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/651/651.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/651/651.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/651/651.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/651/651.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/651/651.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/652/652.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/652/652.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/652/652.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/652/652.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/652/652.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/652/652.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/652/652.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/652/652.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/652/652.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/653/653.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/653/653.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/653/653.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/653/653.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/653/653.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/653/653.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/653/653.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/653/653.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/653/653.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/654/654.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/654/654.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/654/654.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/654/654.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/654/654.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/654/654.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/654/654.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/654/654.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/654/654.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/655/655.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/655/655.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/655/655.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/655/655.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/655/655.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/655/655.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/655/655.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/655/655.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/655/655.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/656/656.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/656/656.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/656/656.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/656/656.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/656/656.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/656/656.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/656/656.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/656/656.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/656/656.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/657/657.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/657/657.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/657/657.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/657/657.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/657/657.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/657/657.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/657/657.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/657/657.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/657/657.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/658/658.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/658/658.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/658/658.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/658/658.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/658/658.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/658/658.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/658/658.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/658/658.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/658/658.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/659/659.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/659/659.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/659/659.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/659/659.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/659/659.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/659/659.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/659/659.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/659/659.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/659/659.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/660/660.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/660/660.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/660/660.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/660/660.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/660/660.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/660/660.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/660/660.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/660/660.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/660/660.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/661/661.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/661/661.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/661/661.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/661/661.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/661/661.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/661/661.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/661/661.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/661/661.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/661/661.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/662/662.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/662/662.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/662/662.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/662/662.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/662/662.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/662/662.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/662/662.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/662/662.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/662/662.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/663/663.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/663/663.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/663/663.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/663/663.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/663/663.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/663/663.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/663/663.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/663/663.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/663/663.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/664/664.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/664/664.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/664/664.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/664/664.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/664/664.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/664/664.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/664/664.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/664/664.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/664/664.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/665/665.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/665/665.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/665/665.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/665/665.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/665/665.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/665/665.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/665/665.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/665/665.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/665/665.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/666/666.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/666/666.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/666/666.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/666/666.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/666/666.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/666/666.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/666/666.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/666/666.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/666/666.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/667/667.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/667/667.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/667/667.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/667/667.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/667/667.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/667/667.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/667/667.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/667/667.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/667/667.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/668/668.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/668/668.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/668/668.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/668/668.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/668/668.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/668/668.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/668/668.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/668/668.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/668/668.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/669/669.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/669/669.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/669/669.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/669/669.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/669/669.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/669/669.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/669/669.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/669/669.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/669/669.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/670/670.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/670/670.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/670/670.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/670/670.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/670/670.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/670/670.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/670/670.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/670/670.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/670/670.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/671/671.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/671/671.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/671/671.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/671/671.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/671/671.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/671/671.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/671/671.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/671/671.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/671/671.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/672/672.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/672/672.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/672/672.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/672/672.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/672/672.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/672/672.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/672/672.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/672/672.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/672/672.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/673/673.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/673/673.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/673/673.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/673/673.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/673/673.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/673/673.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/673/673.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/673/673.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/673/673.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/674/674.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/674/674.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/674/674.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/674/674.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/674/674.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/674/674.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/674/674.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/674/674.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/674/674.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/675/675.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/675/675.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/675/675.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/675/675.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/675/675.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/675/675.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/675/675.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/675/675.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/675/675.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/676/676.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/676/676.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/676/676.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/676/676.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/676/676.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/676/676.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/676/676.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/676/676.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/676/676.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/677/677.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/677/677.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/677/677.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/677/677.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/677/677.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/677/677.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/677/677.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/677/677.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/677/677.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/678/678.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/678/678.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/678/678.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/678/678.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/678/678.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/678/678.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/678/678.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/678/678.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/678/678.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/679/679.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/679/679.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/679/679.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/679/679.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/679/679.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/679/679.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/679/679.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/679/679.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/679/679.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/680/680.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/680/680.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/680/680.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/680/680.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/680/680.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/680/680.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/680/680.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/680/680.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/680/680.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/681/681.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/681/681.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/681/681.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/681/681.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/681/681.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/681/681.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/681/681.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/681/681.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/681/681.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/682/682.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/682/682.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/682/682.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/682/682.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/682/682.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/682/682.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/682/682.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/682/682.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/682/682.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/683/683.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/683/683.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/683/683.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/683/683.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/683/683.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/683/683.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/683/683.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/683/683.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/683/683.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/684/684.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/684/684.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/684/684.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/684/684.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/684/684.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/684/684.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/684/684.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/684/684.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/684/684.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/685/685.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/685/685.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/685/685.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/685/685.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/685/685.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/685/685.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/685/685.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/685/685.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/685/685.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/686/686.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/686/686.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/686/686.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/686/686.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/686/686.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/686/686.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/686/686.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/686/686.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/686/686.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/687/687.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/687/687.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/687/687.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/687/687.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/687/687.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/687/687.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/687/687.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/687/687.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/687/687.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/688/688.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/688/688.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/688/688.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/688/688.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/688/688.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/688/688.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/688/688.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/688/688.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/688/688.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/689/689.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/689/689.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/689/689.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/689/689.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/689/689.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/689/689.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/689/689.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/689/689.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/689/689.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/690/690.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/690/690.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/690/690.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/690/690.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/690/690.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/690/690.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/690/690.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/690/690.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/690/690.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/691/691.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/691/691.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/691/691.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/691/691.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/691/691.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/691/691.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/691/691.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/691/691.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/691/691.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/692/692.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/692/692.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/692/692.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/692/692.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/692/692.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/692/692.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/692/692.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/692/692.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/692/692.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/693/693.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/693/693.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/693/693.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/693/693.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/693/693.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/693/693.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/693/693.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/693/693.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/693/693.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/694/694.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/694/694.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/694/694.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/694/694.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/694/694.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/694/694.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/694/694.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/694/694.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/694/694.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/695/695.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/695/695.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/695/695.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/695/695.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/695/695.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/695/695.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/695/695.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/695/695.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/695/695.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/696/696.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/696/696.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/696/696.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/696/696.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/696/696.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/696/696.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/696/696.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/696/696.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/696/696.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/697/697.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/697/697.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/697/697.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/697/697.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/697/697.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/697/697.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/697/697.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/697/697.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/697/697.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/698/698.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/698/698.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/698/698.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/698/698.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/698/698.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/698/698.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/698/698.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/698/698.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/698/698.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/699/699.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/699/699.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/699/699.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/699/699.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/699/699.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/699/699.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/699/699.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/699/699.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/699/699.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/700/700.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/700/700.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/700/700.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/700/700.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/700/700.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/700/700.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/700/700.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/700/700.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/700/700.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/701/701.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/701/701.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/701/701.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/701/701.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/701/701.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/701/701.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/701/701.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/701/701.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/701/701.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/702/702.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/702/702.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/702/702.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/702/702.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/702/702.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/702/702.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/702/702.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/702/702.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/702/702.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/703/703.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/703/703.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/703/703.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/703/703.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/703/703.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/703/703.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/703/703.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/703/703.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/703/703.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/704/704.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/704/704.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/704/704.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/704/704.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/704/704.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/704/704.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/704/704.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/704/704.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/704/704.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/705/705.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/705/705.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/705/705.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/705/705.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/705/705.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/705/705.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/705/705.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/705/705.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/705/705.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/706/706.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/706/706.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/706/706.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/706/706.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/706/706.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/706/706.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/706/706.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/706/706.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/706/706.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/707/707.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/707/707.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/707/707.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/707/707.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/707/707.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/707/707.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/707/707.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/707/707.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/707/707.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/708/708.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/708/708.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/708/708.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/708/708.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/708/708.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/708/708.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/708/708.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/708/708.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/708/708.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/709/709.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/709/709.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/709/709.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/709/709.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/709/709.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/709/709.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/709/709.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/709/709.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/709/709.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/710/710.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/710/710.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/710/710.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/710/710.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/710/710.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/710/710.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/710/710.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/710/710.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/710/710.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/711/711.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/711/711.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/711/711.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/711/711.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/711/711.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/711/711.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/711/711.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/711/711.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/711/711.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/712/712.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/712/712.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/712/712.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/712/712.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/712/712.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/712/712.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/712/712.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/712/712.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/712/712.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/713/713.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/713/713.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/713/713.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/713/713.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/713/713.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/713/713.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/713/713.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/713/713.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/713/713.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/714/714.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/714/714.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/714/714.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/714/714.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/714/714.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/714/714.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/714/714.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/714/714.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/714/714.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/715/715.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/715/715.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/715/715.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/715/715.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/715/715.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/715/715.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/715/715.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/715/715.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/715/715.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/716/716.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/716/716.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/716/716.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/716/716.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/716/716.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/716/716.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/716/716.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/716/716.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/716/716.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/717/717.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/717/717.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/717/717.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/717/717.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/717/717.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/717/717.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/717/717.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/717/717.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/717/717.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/718/718.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/718/718.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/718/718.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/718/718.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/718/718.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/718/718.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/718/718.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/718/718.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/718/718.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/719/719.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/719/719.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/719/719.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/719/719.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/719/719.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/719/719.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/719/719.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/719/719.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/719/719.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/720/720.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/720/720.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/720/720.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/720/720.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/720/720.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/720/720.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/720/720.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/720/720.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/720/720.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/721/721.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/721/721.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/721/721.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/721/721.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/721/721.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/721/721.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/721/721.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/721/721.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/721/721.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/722/722.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/722/722.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/722/722.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/722/722.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/722/722.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/722/722.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/722/722.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/722/722.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/722/722.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/723/723.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/723/723.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/723/723.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/723/723.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/723/723.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/723/723.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/723/723.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/723/723.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/723/723.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/724/724.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/724/724.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/724/724.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/724/724.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/724/724.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/724/724.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/724/724.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/724/724.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/724/724.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/725/725.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/725/725.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/725/725.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/725/725.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/725/725.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/725/725.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/725/725.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/725/725.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/725/725.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/726/726.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/726/726.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/726/726.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/726/726.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/726/726.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/726/726.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/726/726.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/726/726.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/726/726.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/727/727.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/727/727.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/727/727.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/727/727.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/727/727.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/727/727.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/727/727.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/727/727.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/727/727.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/728/728.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/728/728.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/728/728.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/728/728.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/728/728.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/728/728.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/728/728.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/728/728.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/728/728.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/729/729.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/729/729.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/729/729.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/729/729.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/729/729.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/729/729.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/729/729.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/729/729.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/729/729.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/730/730.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/730/730.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/730/730.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/730/730.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/730/730.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/730/730.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/730/730.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/730/730.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/730/730.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/731/731.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/731/731.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/731/731.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/731/731.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/731/731.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/731/731.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/731/731.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/731/731.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/731/731.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/732/732.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/732/732.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/732/732.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/732/732.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/732/732.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/732/732.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/732/732.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/732/732.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/732/732.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/733/733.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/733/733.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/733/733.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/733/733.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/733/733.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/733/733.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/733/733.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/733/733.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/733/733.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/734/734.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/734/734.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/734/734.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/734/734.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/734/734.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/734/734.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/734/734.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/734/734.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/734/734.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/735/735.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/735/735.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/735/735.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/735/735.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/735/735.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/735/735.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/735/735.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/735/735.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/735/735.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/736/736.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/736/736.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/736/736.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/736/736.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/736/736.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/736/736.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/736/736.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/736/736.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/736/736.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/737/737.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/737/737.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/737/737.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/737/737.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/737/737.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/737/737.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/737/737.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/737/737.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/737/737.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/738/738.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/738/738.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/738/738.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/738/738.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/738/738.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/738/738.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/738/738.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/738/738.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/738/738.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/739/739.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/739/739.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/739/739.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/739/739.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/739/739.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/739/739.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/739/739.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/739/739.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/739/739.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/740/740.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/740/740.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/740/740.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/740/740.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/740/740.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/740/740.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/740/740.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/740/740.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/740/740.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/741/741.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/741/741.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/741/741.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/741/741.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/741/741.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/741/741.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/741/741.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/741/741.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/741/741.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/742/742.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/742/742.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/742/742.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/742/742.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/742/742.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/742/742.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/742/742.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/742/742.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/742/742.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/743/743.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/743/743.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/743/743.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/743/743.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/743/743.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/743/743.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/743/743.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/743/743.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/743/743.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/744/744.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/744/744.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/744/744.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/744/744.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/744/744.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/744/744.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/744/744.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/744/744.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/744/744.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/745/745.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/745/745.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/745/745.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/745/745.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/745/745.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/745/745.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/745/745.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/745/745.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/745/745.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/746/746.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/746/746.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/746/746.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/746/746.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/746/746.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/746/746.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/746/746.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/746/746.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/746/746.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/747/747.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/747/747.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/747/747.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/747/747.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/747/747.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/747/747.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/747/747.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/747/747.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/747/747.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/748/748.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/748/748.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/748/748.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/748/748.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/748/748.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/748/748.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/748/748.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/748/748.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/748/748.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/749/749.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/749/749.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/749/749.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/749/749.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/749/749.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/749/749.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/749/749.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/749/749.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/749/749.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/750/750.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/750/750.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/750/750.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/750/750.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/750/750.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/750/750.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/750/750.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/750/750.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/750/750.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/751/751.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/751/751.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/751/751.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/751/751.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/751/751.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/751/751.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/751/751.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/751/751.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/751/751.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/752/752.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/752/752.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/752/752.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/752/752.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/752/752.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/752/752.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/752/752.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/752/752.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/752/752.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/753/753.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/753/753.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/753/753.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/753/753.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/753/753.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/753/753.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/753/753.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/753/753.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/753/753.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/754/754.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/754/754.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/754/754.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/754/754.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/754/754.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/754/754.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/754/754.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/754/754.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/754/754.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/755/755.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/755/755.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/755/755.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/755/755.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/755/755.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/755/755.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/755/755.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/755/755.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/755/755.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/756/756.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/756/756.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/756/756.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/756/756.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/756/756.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/756/756.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/756/756.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/756/756.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/756/756.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/757/757.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/757/757.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/757/757.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/757/757.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/757/757.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/757/757.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/757/757.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/757/757.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/757/757.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/758/758.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/758/758.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/758/758.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/758/758.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/758/758.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/758/758.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/758/758.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/758/758.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/758/758.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/759/759.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/759/759.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/759/759.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/759/759.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/759/759.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/759/759.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/759/759.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/759/759.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/759/759.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/760/760.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/760/760.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/760/760.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/760/760.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/760/760.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/760/760.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/760/760.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/760/760.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/760/760.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/761/761.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/761/761.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/761/761.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/761/761.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/761/761.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/761/761.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/761/761.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/761/761.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/761/761.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/762/762.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/762/762.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/762/762.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/762/762.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/762/762.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/762/762.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/762/762.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/762/762.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/762/762.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/763/763.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/763/763.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/763/763.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/763/763.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/763/763.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/763/763.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/763/763.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/763/763.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/763/763.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/764/764.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/764/764.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/764/764.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/764/764.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/764/764.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/764/764.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/764/764.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/764/764.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/764/764.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/765/765.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/765/765.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/765/765.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/765/765.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/765/765.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/765/765.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/765/765.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/765/765.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/765/765.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/766/766.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/766/766.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/766/766.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/766/766.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/766/766.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/766/766.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/766/766.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/766/766.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/766/766.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/767/767.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/767/767.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/767/767.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/767/767.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/767/767.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/767/767.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/767/767.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/767/767.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/767/767.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/768/768.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/768/768.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/768/768.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/768/768.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/768/768.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/768/768.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/768/768.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/768/768.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/768/768.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/769/769.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/769/769.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/769/769.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/769/769.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/769/769.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/769/769.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/769/769.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/769/769.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/769/769.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/770/770.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/770/770.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/770/770.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/770/770.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/770/770.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/770/770.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/770/770.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/770/770.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/770/770.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/771/771.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/771/771.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/771/771.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/771/771.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/771/771.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/771/771.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/771/771.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/771/771.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/771/771.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/772/772.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/772/772.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/772/772.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/772/772.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/772/772.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/772/772.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/772/772.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/772/772.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/772/772.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/773/773.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/773/773.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/773/773.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/773/773.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/773/773.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/773/773.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/773/773.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/773/773.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/773/773.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/774/774.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/774/774.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/774/774.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/774/774.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/774/774.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/774/774.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/774/774.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/774/774.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/774/774.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/775/775.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/775/775.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/775/775.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/775/775.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/775/775.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/775/775.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/775/775.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/775/775.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/775/775.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/776/776.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/776/776.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/776/776.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/776/776.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/776/776.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/776/776.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/776/776.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/776/776.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/776/776.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/777/777.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/777/777.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/777/777.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/777/777.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/777/777.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/777/777.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/777/777.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/777/777.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/777/777.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/778/778.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/778/778.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/778/778.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/778/778.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/778/778.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/778/778.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/778/778.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/778/778.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/778/778.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/779/779.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/779/779.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/779/779.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/779/779.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/779/779.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/779/779.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/779/779.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/779/779.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/779/779.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/780/780.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/780/780.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/780/780.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/780/780.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/780/780.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/780/780.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/780/780.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/780/780.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/780/780.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/781/781.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/781/781.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/781/781.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/781/781.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/781/781.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/781/781.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/781/781.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/781/781.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/781/781.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/782/782.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/782/782.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/782/782.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/782/782.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/782/782.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/782/782.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/782/782.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/782/782.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/782/782.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/783/783.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/783/783.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/783/783.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/783/783.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/783/783.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/783/783.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/783/783.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/783/783.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/783/783.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/784/784.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/784/784.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/784/784.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/784/784.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/784/784.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/784/784.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/784/784.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/784/784.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/784/784.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/785/785.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/785/785.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/785/785.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/785/785.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/785/785.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/785/785.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/785/785.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/785/785.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/785/785.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/786/786.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/786/786.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/786/786.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/786/786.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/786/786.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/786/786.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/786/786.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/786/786.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/786/786.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/787/787.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/787/787.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/787/787.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/787/787.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/787/787.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/787/787.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/787/787.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/787/787.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/787/787.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/788/788.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/788/788.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/788/788.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/788/788.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/788/788.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/788/788.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/788/788.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/788/788.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/788/788.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/789/789.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/789/789.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/789/789.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/789/789.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/789/789.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/789/789.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/789/789.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/789/789.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/789/789.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/790/790.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/790/790.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/790/790.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/790/790.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/790/790.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/790/790.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/790/790.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/790/790.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/790/790.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/791/791.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/791/791.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/791/791.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/791/791.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/791/791.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/791/791.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/791/791.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/791/791.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/791/791.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/792/792.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/792/792.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/792/792.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/792/792.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/792/792.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/792/792.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/792/792.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/792/792.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/792/792.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/793/793.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/793/793.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/793/793.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/793/793.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/793/793.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/793/793.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/793/793.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/793/793.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/793/793.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/794/794.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/794/794.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/794/794.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/794/794.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/794/794.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/794/794.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/794/794.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/794/794.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/794/794.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/795/795.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/795/795.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/795/795.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/795/795.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/795/795.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/795/795.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/795/795.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/795/795.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/795/795.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/796/796.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/796/796.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/796/796.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/796/796.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/796/796.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/796/796.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/796/796.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/796/796.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/796/796.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/797/797.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/797/797.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/797/797.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/797/797.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/797/797.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/797/797.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/797/797.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/797/797.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/797/797.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/798/798.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/798/798.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/798/798.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/798/798.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/798/798.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/798/798.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/798/798.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/798/798.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/798/798.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/799/799.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/799/799.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/799/799.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/799/799.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/799/799.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/799/799.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/799/799.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/799/799.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/799/799.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/800/800.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/800/800.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/800/800.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/800/800.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/800/800.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/800/800.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/800/800.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/800/800.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/800/800.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/801/801.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/801/801.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/801/801.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/801/801.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/801/801.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/801/801.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/801/801.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/801/801.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/801/801.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/802/802.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/802/802.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/802/802.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/802/802.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/802/802.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/802/802.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/802/802.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/802/802.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/802/802.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/803/803.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/803/803.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/803/803.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/803/803.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/803/803.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/803/803.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/803/803.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/803/803.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/803/803.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/804/804.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/804/804.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/804/804.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/804/804.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/804/804.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/804/804.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/804/804.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/804/804.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/804/804.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/805/805.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/805/805.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/805/805.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/805/805.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/805/805.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/805/805.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/805/805.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/805/805.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/805/805.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/806/806.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/806/806.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/806/806.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/806/806.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/806/806.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/806/806.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/806/806.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/806/806.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/806/806.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/807/807.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/807/807.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/807/807.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/807/807.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/807/807.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/807/807.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/807/807.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/807/807.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/807/807.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/808/808.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/808/808.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/808/808.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/808/808.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/808/808.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/808/808.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/808/808.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/808/808.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/808/808.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/809/809.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/809/809.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/809/809.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/809/809.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/809/809.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/809/809.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/809/809.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/809/809.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/809/809.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/810/810.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/810/810.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/810/810.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/810/810.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/810/810.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/810/810.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/810/810.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/810/810.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/810/810.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/811/811.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/811/811.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/811/811.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/811/811.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/811/811.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/811/811.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/811/811.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/811/811.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/811/811.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/812/812.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/812/812.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/812/812.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/812/812.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/812/812.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/812/812.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/812/812.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/812/812.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/812/812.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/813/813.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/813/813.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/813/813.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/813/813.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/813/813.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/813/813.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/813/813.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/813/813.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/813/813.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/814/814.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/814/814.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/814/814.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/814/814.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/814/814.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/814/814.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/814/814.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/814/814.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/814/814.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/815/815.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/815/815.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/815/815.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/815/815.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/815/815.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/815/815.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/815/815.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/815/815.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/815/815.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/816/816.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/816/816.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/816/816.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/816/816.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/816/816.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/816/816.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/816/816.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/816/816.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/816/816.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/817/817.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/817/817.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/817/817.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/817/817.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/817/817.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/817/817.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/817/817.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/817/817.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/817/817.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/818/818.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/818/818.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/818/818.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/818/818.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/818/818.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/818/818.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/818/818.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/818/818.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/818/818.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/819/819.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/819/819.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/819/819.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/819/819.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/819/819.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/819/819.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/819/819.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/819/819.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/819/819.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/820/820.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/820/820.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/820/820.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/820/820.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/820/820.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/820/820.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/820/820.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/820/820.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/820/820.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/821/821.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/821/821.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/821/821.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/821/821.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/821/821.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/821/821.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/821/821.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/821/821.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/821/821.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/822/822.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/822/822.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/822/822.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/822/822.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/822/822.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/822/822.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/822/822.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/822/822.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/822/822.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/823/823.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/823/823.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/823/823.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/823/823.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/823/823.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/823/823.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/823/823.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/823/823.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/823/823.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/824/824.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/824/824.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/824/824.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/824/824.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/824/824.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/824/824.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/824/824.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/824/824.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/824/824.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/825/825.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/825/825.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/825/825.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/825/825.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/825/825.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/825/825.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/825/825.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/825/825.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/825/825.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/826/826.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/826/826.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/826/826.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/826/826.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/826/826.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/826/826.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/826/826.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/826/826.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/826/826.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/827/827.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/827/827.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/827/827.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/827/827.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/827/827.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/827/827.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/827/827.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/827/827.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/827/827.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/828/828.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/828/828.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/828/828.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/828/828.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/828/828.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/828/828.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/828/828.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/828/828.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/828/828.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/829/829.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/829/829.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/829/829.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/829/829.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/829/829.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/829/829.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/829/829.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/829/829.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/829/829.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/830/830.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/830/830.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/830/830.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/830/830.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/830/830.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/830/830.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/830/830.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/830/830.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/830/830.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/831/831.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/831/831.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/831/831.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/831/831.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/831/831.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/831/831.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/831/831.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/831/831.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/831/831.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/832/832.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/832/832.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/832/832.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/832/832.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/832/832.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/832/832.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/832/832.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/832/832.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/832/832.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/833/833.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/833/833.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/833/833.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/833/833.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/833/833.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/833/833.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/833/833.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/833/833.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/833/833.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/834/834.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/834/834.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/834/834.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/834/834.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/834/834.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/834/834.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/834/834.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/834/834.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/834/834.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/835/835.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/835/835.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/835/835.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/835/835.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/835/835.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/835/835.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/835/835.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/835/835.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/835/835.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/836/836.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/836/836.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/836/836.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/836/836.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/836/836.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/836/836.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/836/836.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/836/836.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/836/836.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/837/837.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/837/837.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/837/837.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/837/837.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/837/837.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/837/837.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/837/837.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/837/837.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/837/837.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/838/838.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/838/838.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/838/838.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/838/838.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/838/838.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/838/838.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/838/838.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/838/838.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/838/838.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/839/839.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/839/839.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/839/839.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/839/839.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/839/839.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/839/839.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/839/839.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/839/839.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/839/839.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/840/840.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/840/840.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/840/840.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/840/840.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/840/840.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/840/840.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/840/840.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/840/840.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/840/840.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/841/841.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/841/841.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/841/841.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/841/841.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/841/841.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/841/841.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/841/841.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/841/841.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/841/841.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/842/842.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/842/842.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/842/842.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/842/842.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/842/842.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/842/842.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/842/842.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/842/842.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/842/842.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/843/843.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/843/843.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/843/843.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/843/843.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/843/843.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/843/843.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/843/843.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/843/843.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/843/843.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/844/844.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/844/844.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/844/844.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/844/844.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/844/844.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/844/844.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/844/844.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/844/844.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/844/844.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/845/845.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/845/845.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/845/845.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/845/845.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/845/845.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/845/845.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/845/845.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/845/845.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/845/845.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/846/846.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/846/846.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/846/846.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/846/846.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/846/846.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/846/846.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/846/846.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/846/846.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/846/846.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/847/847.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/847/847.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/847/847.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/847/847.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/847/847.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/847/847.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/847/847.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/847/847.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/847/847.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/848/848.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/848/848.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/848/848.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/848/848.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/848/848.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/848/848.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/848/848.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/848/848.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/848/848.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/849/849.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/849/849.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/849/849.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/849/849.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/849/849.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/849/849.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/849/849.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/849/849.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/849/849.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/850/850.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/850/850.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/850/850.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/850/850.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/850/850.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/850/850.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/850/850.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/850/850.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/850/850.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/851/851.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/851/851.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/851/851.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/851/851.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/851/851.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/851/851.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/851/851.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/851/851.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/851/851.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/852/852.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/852/852.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/852/852.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/852/852.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/852/852.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/852/852.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/852/852.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/852/852.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/852/852.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/853/853.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/853/853.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/853/853.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/853/853.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/853/853.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/853/853.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/853/853.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/853/853.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/853/853.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/854/854.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/854/854.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/854/854.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/854/854.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/854/854.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/854/854.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/854/854.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/854/854.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/854/854.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/855/855.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/855/855.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/855/855.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/855/855.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/855/855.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/855/855.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/855/855.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/855/855.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/855/855.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/856/856.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/856/856.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/856/856.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/856/856.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/856/856.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/856/856.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/856/856.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/856/856.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/856/856.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/857/857.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/857/857.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/857/857.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/857/857.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/857/857.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/857/857.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/857/857.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/857/857.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/857/857.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/858/858.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/858/858.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/858/858.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/858/858.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/858/858.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/858/858.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/858/858.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/858/858.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/858/858.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/859/859.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/859/859.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/859/859.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/859/859.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/859/859.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/859/859.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/859/859.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/859/859.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/859/859.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/860/860.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/860/860.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/860/860.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/860/860.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/860/860.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/860/860.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/860/860.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/860/860.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/860/860.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/861/861.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/861/861.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/861/861.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/861/861.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/861/861.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/861/861.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/861/861.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/861/861.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/861/861.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/862/862.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/862/862.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/862/862.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/862/862.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/862/862.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/862/862.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/862/862.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/862/862.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/862/862.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/863/863.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/863/863.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/863/863.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/863/863.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/863/863.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/863/863.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/863/863.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/863/863.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/863/863.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/864/864.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/864/864.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/864/864.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/864/864.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/864/864.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/864/864.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/864/864.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/864/864.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/864/864.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/865/865.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/865/865.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/865/865.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/865/865.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/865/865.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/865/865.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/865/865.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/865/865.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/865/865.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/866/866.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/866/866.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/866/866.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/866/866.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/866/866.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/866/866.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/866/866.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/866/866.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/866/866.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/867/867.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/867/867.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/867/867.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/867/867.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/867/867.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/867/867.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/867/867.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/867/867.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/867/867.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/868/868.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/868/868.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/868/868.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/868/868.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/868/868.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/868/868.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/868/868.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/868/868.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/868/868.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/869/869.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/869/869.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/869/869.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/869/869.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/869/869.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/869/869.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/869/869.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/869/869.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/869/869.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/870/870.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/870/870.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/870/870.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/870/870.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/870/870.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/870/870.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/870/870.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/870/870.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/870/870.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/871/871.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/871/871.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/871/871.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/871/871.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/871/871.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/871/871.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/871/871.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/871/871.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/871/871.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/872/872.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/872/872.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/872/872.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/872/872.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/872/872.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/872/872.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/872/872.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/872/872.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/872/872.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/873/873.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/873/873.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/873/873.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/873/873.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/873/873.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/873/873.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/873/873.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/873/873.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/873/873.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/874/874.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/874/874.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/874/874.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/874/874.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/874/874.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/874/874.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/874/874.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/874/874.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/874/874.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/875/875.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/875/875.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/875/875.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/875/875.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/875/875.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/875/875.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/875/875.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/875/875.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/875/875.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/876/876.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/876/876.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/876/876.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/876/876.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/876/876.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/876/876.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/876/876.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/876/876.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/876/876.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/877/877.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/877/877.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/877/877.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/877/877.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/877/877.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/877/877.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/877/877.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/877/877.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/877/877.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/878/878.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/878/878.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/878/878.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/878/878.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/878/878.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/878/878.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/878/878.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/878/878.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/878/878.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/879/879.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/879/879.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/879/879.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/879/879.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/879/879.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/879/879.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/879/879.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/879/879.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/879/879.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/880/880.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/880/880.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/880/880.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/880/880.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/880/880.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/880/880.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/880/880.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/880/880.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/880/880.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/881/881.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/881/881.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/881/881.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/881/881.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/881/881.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/881/881.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/881/881.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/881/881.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/881/881.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/882/882.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/882/882.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/882/882.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/882/882.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/882/882.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/882/882.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/882/882.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/882/882.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/882/882.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/883/883.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/883/883.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/883/883.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/883/883.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/883/883.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/883/883.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/883/883.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/883/883.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/883/883.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/884/884.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/884/884.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/884/884.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/884/884.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/884/884.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/884/884.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/884/884.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/884/884.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/884/884.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/885/885.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/885/885.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/885/885.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/885/885.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/885/885.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/885/885.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/885/885.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/885/885.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/885/885.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/886/886.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/886/886.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/886/886.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/886/886.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/886/886.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/886/886.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/886/886.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/886/886.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/886/886.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/887/887.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/887/887.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/887/887.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/887/887.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/887/887.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/887/887.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/887/887.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/887/887.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/887/887.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/888/888.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/888/888.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/888/888.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/888/888.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/888/888.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/888/888.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/888/888.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/888/888.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/888/888.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/889/889.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/889/889.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/889/889.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/889/889.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/889/889.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/889/889.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/889/889.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/889/889.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/889/889.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/890/890.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/890/890.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/890/890.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/890/890.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/890/890.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/890/890.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/890/890.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/890/890.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/890/890.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/891/891.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/891/891.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/891/891.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/891/891.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/891/891.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/891/891.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/891/891.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/891/891.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/891/891.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/892/892.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/892/892.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/892/892.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/892/892.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/892/892.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/892/892.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/892/892.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/892/892.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/892/892.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/893/893.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/893/893.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/893/893.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/893/893.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/893/893.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/893/893.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/893/893.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/893/893.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/893/893.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/894/894.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/894/894.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/894/894.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/894/894.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/894/894.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/894/894.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/894/894.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/894/894.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/894/894.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/895/895.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/895/895.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/895/895.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/895/895.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/895/895.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/895/895.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/895/895.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/895/895.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/895/895.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/896/896.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/896/896.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/896/896.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/896/896.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/896/896.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/896/896.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/896/896.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/896/896.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/896/896.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/897/897.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/897/897.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/897/897.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/897/897.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/897/897.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/897/897.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/897/897.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/897/897.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/897/897.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/898/898.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/898/898.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/898/898.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/898/898.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/898/898.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/898/898.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/898/898.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/898/898.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/898/898.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/899/899.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/899/899.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/899/899.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/899/899.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/899/899.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/899/899.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/899/899.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/899/899.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/899/899.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/900/900.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/900/900.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/900/900.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/900/900.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/900/900.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/900/900.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/900/900.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/900/900.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/900/900.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/901/901.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/901/901.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/901/901.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/901/901.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/901/901.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/901/901.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/901/901.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/901/901.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/901/901.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/902/902.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/902/902.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/902/902.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/902/902.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/902/902.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/902/902.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/902/902.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/902/902.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/902/902.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/903/903.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/903/903.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/903/903.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/903/903.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/903/903.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/903/903.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/903/903.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/903/903.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/904/904.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/904/904.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/904/904.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/904/904.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/904/904.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/904/904.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/904/904.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/904/904.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/904/904.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/905/905.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/905/905.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/905/905.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/905/905.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/905/905.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/905/905.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/905/905.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/905/905.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/905/905.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/906/906.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/906/906.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/906/906.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/906/906.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/906/906.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/906/906.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/906/906.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/906/906.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/906/906.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/907/907.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/907/907.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/907/907.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/907/907.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/907/907.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/907/907.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/907/907.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/907/907.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/907/907.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/908/908.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/908/908.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/908/908.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/908/908.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/908/908.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/908/908.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/908/908.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/908/908.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/908/908.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/909/909.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/909/909.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/909/909.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/909/909.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/909/909.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/909/909.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/909/909.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/909/909.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/909/909.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/910/910.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/910/910.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/910/910.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/910/910.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/910/910.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/910/910.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/910/910.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/910/910.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/910/910.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/911/911.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/911/911.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/911/911.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/911/911.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/911/911.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/911/911.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/911/911.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/911/911.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/911/911.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/912/912.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/912/912.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/912/912.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/912/912.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/912/912.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/912/912.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/912/912.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/912/912.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/912/912.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/913/913.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/913/913.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/913/913.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/913/913.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/913/913.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/913/913.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/913/913.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/913/913.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/913/913.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/914/914.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/914/914.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/914/914.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/914/914.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/914/914.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/914/914.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/914/914.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/914/914.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/914/914.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/915/915.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/915/915.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/915/915.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/915/915.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/915/915.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/915/915.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/915/915.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/915/915.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/915/915.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/916/916.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/916/916.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/916/916.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/916/916.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/916/916.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/916/916.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/916/916.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/916/916.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/916/916.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/917/917.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/917/917.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/917/917.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/917/917.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/917/917.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/917/917.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/917/917.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/917/917.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/917/917.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/918/918.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/918/918.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/918/918.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/918/918.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/918/918.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/918/918.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/918/918.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/918/918.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/918/918.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/919/919.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/919/919.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/919/919.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/919/919.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/919/919.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/919/919.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/919/919.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/919/919.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/919/919.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/920/920.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/920/920.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/920/920.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/920/920.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/920/920.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/920/920.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/920/920.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/920/920.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/920/920.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/921/921.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/921/921.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/921/921.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/921/921.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/921/921.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/921/921.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/921/921.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/921/921.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/921/921.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/922/922.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/922/922.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/922/922.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/922/922.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/922/922.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/922/922.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/922/922.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/922/922.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/922/922.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/923/923.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/923/923.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/923/923.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/923/923.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/923/923.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/923/923.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/923/923.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/923/923.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/923/923.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/924/924.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/924/924.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/924/924.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/924/924.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/924/924.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/924/924.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/924/924.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/924/924.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/924/924.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/925/925.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/925/925.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/925/925.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/925/925.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/925/925.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/925/925.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/925/925.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/925/925.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/925/925.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/926/926.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/926/926.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/926/926.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/926/926.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/926/926.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/926/926.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/926/926.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/926/926.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/926/926.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/927/927.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/927/927.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/927/927.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/927/927.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/927/927.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/927/927.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/927/927.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/927/927.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/927/927.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/928/928.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/928/928.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/928/928.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/928/928.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/928/928.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/928/928.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/928/928.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/928/928.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/928/928.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/929/929.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/929/929.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/929/929.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/929/929.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/929/929.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/929/929.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/929/929.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/929/929.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/929/929.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/930/930.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/930/930.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/930/930.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/930/930.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/930/930.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/930/930.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/930/930.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/930/930.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/930/930.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/931/931.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/931/931.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/931/931.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/931/931.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/931/931.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/931/931.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/931/931.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/931/931.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/931/931.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/932/932.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/932/932.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/932/932.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/932/932.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/932/932.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/932/932.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/932/932.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/932/932.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/932/932.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/933/933.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/933/933.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/933/933.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/933/933.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/933/933.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/933/933.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/933/933.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/933/933.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/933/933.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/934/934.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/934/934.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/934/934.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/934/934.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/934/934.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/934/934.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/934/934.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/934/934.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/934/934.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/935/935.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/935/935.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/935/935.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/935/935.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/935/935.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/935/935.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/935/935.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/935/935.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/935/935.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/936/936.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/936/936.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/936/936.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/936/936.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/936/936.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/936/936.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/936/936.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/936/936.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/936/936.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/937/937.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/937/937.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/937/937.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/937/937.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/937/937.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/937/937.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/937/937.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/937/937.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/937/937.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/938/938.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/938/938.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/938/938.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/938/938.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/938/938.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/938/938.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/938/938.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/938/938.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/938/938.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/939/939.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/939/939.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/939/939.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/939/939.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/939/939.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/939/939.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/939/939.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/939/939.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/939/939.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/940/940.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/940/940.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/940/940.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/940/940.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/940/940.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/940/940.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/940/940.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/940/940.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/940/940.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/941/941.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/941/941.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/941/941.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/941/941.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/941/941.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/941/941.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/941/941.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/941/941.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/941/941.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/942/942.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/942/942.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/942/942.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/942/942.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/942/942.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/942/942.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/942/942.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/942/942.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/942/942.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/943/943.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/943/943.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/943/943.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/943/943.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/943/943.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/943/943.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/943/943.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/943/943.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/943/943.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/944/944.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/944/944.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/944/944.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/944/944.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/944/944.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/944/944.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/944/944.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/944/944.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/944/944.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/945/945.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/945/945.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/945/945.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/945/945.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/945/945.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/945/945.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/945/945.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/945/945.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/945/945.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/946/946.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/946/946.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/946/946.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/946/946.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/946/946.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/946/946.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/946/946.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/946/946.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/946/946.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/947/947.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/947/947.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/947/947.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/947/947.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/947/947.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/947/947.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/947/947.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/947/947.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/947/947.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/948/948.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/948/948.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/948/948.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/948/948.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/948/948.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/948/948.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/948/948.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/948/948.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/949/949.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/949/949.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/949/949.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/949/949.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/949/949.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/949/949.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/949/949.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/949/949.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/949/949.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/950/950.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/950/950.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/950/950.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/950/950.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/950/950.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/950/950.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/950/950.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/950/950.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/950/950.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/951/951.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/951/951.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/951/951.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/951/951.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/951/951.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/951/951.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/951/951.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/951/951.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/951/951.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/952/952.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/952/952.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/952/952.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/952/952.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/952/952.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/952/952.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/952/952.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/952/952.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/952/952.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/953/953.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/953/953.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/953/953.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/953/953.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/953/953.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/953/953.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/953/953.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/953/953.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/953/953.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/954/954.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/954/954.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/954/954.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/954/954.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/954/954.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/954/954.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/954/954.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/954/954.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/954/954.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/955/955.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/955/955.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/955/955.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/955/955.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/955/955.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/955/955.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/955/955.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/955/955.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/955/955.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/956/956.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/956/956.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/956/956.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/956/956.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/956/956.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/956/956.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/956/956.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/956/956.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/956/956.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/957/957.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/957/957.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/957/957.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/957/957.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/957/957.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/957/957.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/957/957.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/957/957.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/957/957.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/958/958.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/958/958.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/958/958.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/958/958.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/958/958.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/958/958.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/958/958.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/958/958.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/958/958.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/959/959.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/959/959.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/959/959.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/959/959.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/959/959.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/959/959.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/959/959.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/959/959.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/959/959.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/960/960.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/960/960.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/960/960.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/960/960.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/960/960.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/960/960.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/960/960.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/960/960.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/960/960.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/961/961.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/961/961.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/961/961.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/961/961.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/961/961.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/961/961.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/961/961.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/961/961.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/961/961.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/962/962.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/962/962.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/962/962.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/962/962.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/962/962.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/962/962.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/962/962.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/962/962.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/962/962.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/963/963.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/963/963.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/963/963.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/963/963.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/963/963.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/963/963.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/963/963.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/963/963.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/963/963.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/964/964.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/964/964.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/964/964.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/964/964.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/964/964.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/964/964.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/964/964.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/964/964.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/964/964.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/965/965.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/965/965.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/965/965.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/965/965.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/965/965.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/965/965.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/965/965.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/965/965.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/965/965.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/966/966.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/966/966.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/966/966.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/966/966.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/966/966.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/966/966.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/966/966.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/966/966.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/966/966.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/967/967.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/967/967.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/967/967.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/967/967.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/967/967.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/967/967.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/967/967.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/967/967.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/967/967.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/968/968.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/968/968.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/968/968.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/968/968.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/968/968.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/968/968.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/968/968.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/968/968.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/968/968.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/969/969.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/969/969.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/969/969.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/969/969.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/969/969.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/969/969.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/969/969.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/969/969.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/969/969.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/970/970.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/970/970.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/970/970.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/970/970.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/970/970.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/970/970.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/970/970.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/970/970.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/970/970.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/971/971.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/971/971.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/971/971.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/971/971.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/971/971.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/971/971.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/971/971.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/971/971.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/971/971.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/972/972.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/972/972.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/972/972.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/972/972.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/972/972.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/972/972.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/972/972.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/972/972.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/972/972.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/973/973.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/973/973.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/973/973.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/973/973.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/973/973.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/973/973.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/973/973.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/973/973.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/973/973.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/974/974.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/974/974.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/974/974.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/974/974.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/974/974.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/974/974.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/974/974.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/974/974.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/974/974.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/975/975.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/975/975.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/975/975.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/975/975.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/975/975.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/975/975.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/975/975.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/975/975.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/975/975.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/976/976.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/976/976.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/976/976.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/976/976.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/976/976.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/976/976.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/976/976.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/976/976.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/976/976.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/977/977.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/977/977.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/977/977.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/977/977.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/977/977.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/977/977.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/977/977.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/977/977.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/977/977.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/978/978.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/978/978.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/978/978.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/978/978.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/978/978.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/978/978.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/978/978.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/978/978.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/978/978.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/979/979.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/979/979.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/979/979.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/979/979.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/979/979.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/979/979.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/979/979.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/979/979.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/979/979.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/980/980.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/980/980.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/980/980.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/980/980.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/980/980.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/980/980.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/980/980.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/980/980.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/980/980.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/981/981.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/981/981.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/981/981.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/981/981.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/981/981.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/981/981.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/981/981.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/981/981.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/981/981.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/982/982.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/982/982.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/982/982.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/982/982.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/982/982.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/982/982.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/982/982.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/982/982.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/982/982.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/983/983.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/983/983.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/983/983.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/983/983.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/983/983.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/983/983.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/983/983.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/983/983.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/983/983.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/984/984.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/984/984.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/984/984.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/984/984.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/984/984.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/984/984.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/984/984.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/984/984.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/984/984.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/985/985.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/985/985.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/985/985.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/985/985.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/985/985.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/985/985.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/985/985.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/985/985.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/985/985.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/986/986.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/986/986.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/986/986.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/986/986.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/986/986.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/986/986.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/986/986.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/986/986.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/986/986.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/987/987.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/987/987.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/987/987.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/987/987.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/987/987.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/987/987.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/987/987.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/987/987.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/987/987.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/988/988.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/988/988.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/988/988.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/988/988.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/988/988.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/988/988.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/988/988.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/988/988.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/988/988.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/989/989.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/989/989.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/989/989.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/989/989.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/989/989.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/989/989.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/989/989.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/989/989.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/989/989.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/990/990.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/990/990.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/990/990.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/990/990.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/990/990.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/990/990.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/990/990.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/990/990.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/990/990.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/991/991.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/991/991.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/991/991.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/991/991.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/991/991.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/991/991.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/991/991.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/991/991.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/991/991.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/992/992.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/992/992.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/992/992.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/992/992.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/992/992.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/992/992.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/992/992.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/992/992.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/992/992.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/993/993.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/993/993.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/993/993.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/993/993.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/993/993.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/993/993.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/993/993.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/993/993.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/993/993.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/994/994.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/994/994.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/994/994.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/994/994.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/994/994.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/994/994.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/994/994.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/994/994.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/994/994.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/995/995.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/995/995.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/995/995.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/995/995.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/995/995.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/995/995.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/995/995.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/995/995.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/995/995.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/996/996.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/996/996.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/996/996.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/996/996.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/996/996.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/996/996.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/996/996.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/996/996.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/996/996.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/997/997.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/997/997.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/997/997.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/997/997.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/997/997.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/997/997.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/997/997.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/997/997.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/997/997.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/998/998.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/998/998.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/998/998.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/998/998.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/998/998.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/998/998.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/998/998.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/998/998.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/998/998.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.mtl b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/999/999.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/999/999.mtl rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/999/999.mtl diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.obj b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/999/999.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/999/999.obj rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/999/999.obj diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.urdf b/examples/pycram_bullet/gym/pybullet_data/random_urdfs/999/999.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/random_urdfs/999/999.urdf rename to examples/pycram_bullet/gym/pybullet_data/random_urdfs/999/999.urdf diff --git a/examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part0.obj b/examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part0.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part0.obj rename to examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part0.obj diff --git a/examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part1.obj b/examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part1.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part1.obj rename to examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part1.obj diff --git a/examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part2.obj b/examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part2.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part2.obj rename to examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/part2.obj diff --git a/examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium.mtl b/examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium.mtl rename to examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium.mtl diff --git a/examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium.obj b/examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium.obj rename to examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium.obj diff --git a/examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium_grass.jpg b/examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium_grass.jpg similarity index 100% rename from examples/pybullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium_grass.jpg rename to examples/pycram_bullet/gym/pybullet_data/roboschool/models_outdoor/stadium/stadium_grass.jpg diff --git a/examples/pybullet/gym/pybullet_data/samurai.urdf b/examples/pycram_bullet/gym/pybullet_data/samurai.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/samurai.urdf rename to examples/pycram_bullet/gym/pybullet_data/samurai.urdf diff --git a/examples/pybullet/gym/pybullet_data/samurai_monastry.mtl b/examples/pycram_bullet/gym/pybullet_data/samurai_monastry.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/samurai_monastry.mtl rename to examples/pycram_bullet/gym/pybullet_data/samurai_monastry.mtl diff --git a/examples/pybullet/gym/pybullet_data/samurai_monastry.obj b/examples/pycram_bullet/gym/pybullet_data/samurai_monastry.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/samurai_monastry.obj rename to examples/pycram_bullet/gym/pybullet_data/samurai_monastry.obj diff --git a/examples/pybullet/gym/pybullet_data/soccerball.mtl b/examples/pycram_bullet/gym/pybullet_data/soccerball.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/soccerball.mtl rename to examples/pycram_bullet/gym/pybullet_data/soccerball.mtl diff --git a/examples/pybullet/gym/pybullet_data/soccerball.obj b/examples/pycram_bullet/gym/pybullet_data/soccerball.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/soccerball.obj rename to examples/pycram_bullet/gym/pybullet_data/soccerball.obj diff --git a/examples/pybullet/gym/pybullet_data/soccerball.urdf b/examples/pycram_bullet/gym/pybullet_data/soccerball.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/soccerball.urdf rename to examples/pycram_bullet/gym/pybullet_data/soccerball.urdf diff --git a/examples/pybullet/gym/pybullet_data/sphere2.urdf b/examples/pycram_bullet/gym/pybullet_data/sphere2.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere2.urdf rename to examples/pycram_bullet/gym/pybullet_data/sphere2.urdf diff --git a/examples/pybullet/gym/pybullet_data/sphere2red.urdf b/examples/pycram_bullet/gym/pybullet_data/sphere2red.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere2red.urdf rename to examples/pycram_bullet/gym/pybullet_data/sphere2red.urdf diff --git a/examples/pybullet/gym/pybullet_data/sphere2red_nocol.urdf b/examples/pycram_bullet/gym/pybullet_data/sphere2red_nocol.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere2red_nocol.urdf rename to examples/pycram_bullet/gym/pybullet_data/sphere2red_nocol.urdf diff --git a/examples/pybullet/gym/pybullet_data/sphere8cube.urdf b/examples/pycram_bullet/gym/pybullet_data/sphere8cube.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere8cube.urdf rename to examples/pycram_bullet/gym/pybullet_data/sphere8cube.urdf diff --git a/examples/pybullet/gym/pybullet_data/sphere_1cm.urdf b/examples/pycram_bullet/gym/pybullet_data/sphere_1cm.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere_1cm.urdf rename to examples/pycram_bullet/gym/pybullet_data/sphere_1cm.urdf diff --git a/examples/pybullet/gym/pybullet_data/sphere_small.urdf b/examples/pycram_bullet/gym/pybullet_data/sphere_small.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere_small.urdf rename to examples/pycram_bullet/gym/pybullet_data/sphere_small.urdf diff --git a/examples/pybullet/gym/pybullet_data/sphere_smooth.mtl b/examples/pycram_bullet/gym/pybullet_data/sphere_smooth.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere_smooth.mtl rename to examples/pycram_bullet/gym/pybullet_data/sphere_smooth.mtl diff --git a/examples/pybullet/gym/pybullet_data/sphere_smooth.obj b/examples/pycram_bullet/gym/pybullet_data/sphere_smooth.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere_smooth.obj rename to examples/pycram_bullet/gym/pybullet_data/sphere_smooth.obj diff --git a/examples/pybullet/gym/pybullet_data/sphere_transparent.urdf b/examples/pycram_bullet/gym/pybullet_data/sphere_transparent.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere_transparent.urdf rename to examples/pycram_bullet/gym/pybullet_data/sphere_transparent.urdf diff --git a/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf b/examples/pycram_bullet/gym/pybullet_data/sphere_with_restitution.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf rename to examples/pycram_bullet/gym/pybullet_data/sphere_with_restitution.urdf diff --git a/examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf b/examples/pycram_bullet/gym/pybullet_data/spherical_joint_limit.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf rename to examples/pycram_bullet/gym/pybullet_data/spherical_joint_limit.urdf diff --git a/examples/pybullet/gym/pybullet_data/stadium.sdf b/examples/pycram_bullet/gym/pybullet_data/stadium.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/stadium.sdf rename to examples/pycram_bullet/gym/pybullet_data/stadium.sdf diff --git a/examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf b/examples/pycram_bullet/gym/pybullet_data/stadium_no_collision.sdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf rename to examples/pycram_bullet/gym/pybullet_data/stadium_no_collision.sdf diff --git a/examples/pybullet/gym/pybullet_data/stone.mtl b/examples/pycram_bullet/gym/pybullet_data/stone.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/stone.mtl rename to examples/pycram_bullet/gym/pybullet_data/stone.mtl diff --git a/examples/pybullet/gym/pybullet_data/stone.obj b/examples/pycram_bullet/gym/pybullet_data/stone.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/stone.obj rename to examples/pycram_bullet/gym/pybullet_data/stone.obj diff --git a/examples/pybullet/gym/pybullet_data/table/table.mtl b/examples/pycram_bullet/gym/pybullet_data/table/table.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/table/table.mtl rename to examples/pycram_bullet/gym/pybullet_data/table/table.mtl diff --git a/examples/pybullet/gym/pybullet_data/table/table.obj b/examples/pycram_bullet/gym/pybullet_data/table/table.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/table/table.obj rename to examples/pycram_bullet/gym/pybullet_data/table/table.obj diff --git a/examples/pybullet/gym/pybullet_data/table/table.png b/examples/pycram_bullet/gym/pybullet_data/table/table.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/table/table.png rename to examples/pycram_bullet/gym/pybullet_data/table/table.png diff --git a/examples/pybullet/gym/pybullet_data/table/table.urdf b/examples/pycram_bullet/gym/pybullet_data/table/table.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/table/table.urdf rename to examples/pycram_bullet/gym/pybullet_data/table/table.urdf diff --git a/examples/pybullet/gym/pybullet_data/table_square/checker_grid.jpg b/examples/pycram_bullet/gym/pybullet_data/table_square/checker_grid.jpg similarity index 100% rename from examples/pybullet/gym/pybullet_data/table_square/checker_grid.jpg rename to examples/pycram_bullet/gym/pybullet_data/table_square/checker_grid.jpg diff --git a/examples/pybullet/gym/pybullet_data/table_square/table.mtl b/examples/pycram_bullet/gym/pybullet_data/table_square/table.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/table_square/table.mtl rename to examples/pycram_bullet/gym/pybullet_data/table_square/table.mtl diff --git a/examples/pybullet/gym/pybullet_data/table_square/table.obj b/examples/pycram_bullet/gym/pybullet_data/table_square/table.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/table_square/table.obj rename to examples/pycram_bullet/gym/pybullet_data/table_square/table.obj diff --git a/examples/pybullet/gym/pybullet_data/table_square/table_square.urdf b/examples/pycram_bullet/gym/pybullet_data/table_square/table_square.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/table_square/table_square.urdf rename to examples/pycram_bullet/gym/pybullet_data/table_square/table_square.urdf diff --git a/examples/pybullet/gym/pybullet_data/teddy2_VHACD_CHs.obj b/examples/pycram_bullet/gym/pybullet_data/teddy2_VHACD_CHs.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/teddy2_VHACD_CHs.obj rename to examples/pycram_bullet/gym/pybullet_data/teddy2_VHACD_CHs.obj diff --git a/examples/pybullet/gym/pybullet_data/teddy_large.urdf b/examples/pycram_bullet/gym/pybullet_data/teddy_large.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/teddy_large.urdf rename to examples/pycram_bullet/gym/pybullet_data/teddy_large.urdf diff --git a/examples/pybullet/gym/pybullet_data/teddy_vhacd.urdf b/examples/pycram_bullet/gym/pybullet_data/teddy_vhacd.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/teddy_vhacd.urdf rename to examples/pycram_bullet/gym/pybullet_data/teddy_vhacd.urdf diff --git a/examples/pybullet/gym/pybullet_data/terrain.obj b/examples/pycram_bullet/gym/pybullet_data/terrain.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/terrain.obj rename to examples/pycram_bullet/gym/pybullet_data/terrain.obj diff --git a/examples/pybullet/gym/pybullet_data/testdata/__init__.py b/examples/pycram_bullet/gym/pybullet_data/testdata/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/testdata/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/testdata/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/__init__.py b/examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/__init__.py rename to examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/__init__.py diff --git a/examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/accelerometer.npy b/examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/accelerometer.npy similarity index 100% rename from examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/accelerometer.npy rename to examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/accelerometer.npy diff --git a/examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/estimated_velocities.npy b/examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/estimated_velocities.npy similarity index 100% rename from examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/estimated_velocities.npy rename to examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/estimated_velocities.npy diff --git a/examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/feet_contact_forces.npy b/examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/feet_contact_forces.npy similarity index 100% rename from examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/feet_contact_forces.npy rename to examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/feet_contact_forces.npy diff --git a/examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/gyroscope.npy b/examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/gyroscope.npy similarity index 100% rename from examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/gyroscope.npy rename to examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/gyroscope.npy diff --git a/examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/jacobians.npy b/examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/jacobians.npy similarity index 100% rename from examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/jacobians.npy rename to examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/jacobians.npy diff --git a/examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/motor_velocities.npy b/examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/motor_velocities.npy similarity index 100% rename from examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/motor_velocities.npy rename to examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/motor_velocities.npy diff --git a/examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/timestamp.npy b/examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/timestamp.npy similarity index 100% rename from examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/timestamp.npy rename to examples/pycram_bullet/gym/pybullet_data/testdata/test_imu_state_estimator/timestamp.npy diff --git a/examples/pybullet/gym/pybullet_data/tex256.png b/examples/pycram_bullet/gym/pybullet_data/tex256.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/tex256.png rename to examples/pycram_bullet/gym/pybullet_data/tex256.png diff --git a/examples/pybullet/gym/pybullet_data/textured_sphere_smooth.mtl b/examples/pycram_bullet/gym/pybullet_data/textured_sphere_smooth.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/textured_sphere_smooth.mtl rename to examples/pycram_bullet/gym/pybullet_data/textured_sphere_smooth.mtl diff --git a/examples/pybullet/gym/pybullet_data/textured_sphere_smooth.obj b/examples/pycram_bullet/gym/pybullet_data/textured_sphere_smooth.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/textured_sphere_smooth.obj rename to examples/pycram_bullet/gym/pybullet_data/textured_sphere_smooth.obj diff --git a/examples/pybullet/gym/pybullet_data/torus.vtk b/examples/pycram_bullet/gym/pybullet_data/torus.vtk similarity index 100% rename from examples/pybullet/gym/pybullet_data/torus.vtk rename to examples/pycram_bullet/gym/pybullet_data/torus.vtk diff --git a/examples/pybullet/gym/pybullet_data/torus/torus_textured.mtl b/examples/pycram_bullet/gym/pybullet_data/torus/torus_textured.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/torus/torus_textured.mtl rename to examples/pycram_bullet/gym/pybullet_data/torus/torus_textured.mtl diff --git a/examples/pybullet/gym/pybullet_data/torus/torus_textured.obj b/examples/pycram_bullet/gym/pybullet_data/torus/torus_textured.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/torus/torus_textured.obj rename to examples/pycram_bullet/gym/pybullet_data/torus/torus_textured.obj diff --git a/examples/pybullet/gym/pybullet_data/torus_deform.urdf b/examples/pycram_bullet/gym/pybullet_data/torus_deform.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/torus_deform.urdf rename to examples/pycram_bullet/gym/pybullet_data/torus_deform.urdf diff --git a/examples/pybullet/gym/pybullet_data/toys/LICENSE b/examples/pycram_bullet/gym/pybullet_data/toys/LICENSE similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/LICENSE rename to examples/pycram_bullet/gym/pybullet_data/toys/LICENSE diff --git a/examples/pybullet/gym/pybullet_data/toys/concave_box.cdf b/examples/pycram_bullet/gym/pybullet_data/toys/concave_box.cdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/concave_box.cdf rename to examples/pycram_bullet/gym/pybullet_data/toys/concave_box.cdf diff --git a/examples/pybullet/gym/pybullet_data/toys/concave_box.mtl b/examples/pycram_bullet/gym/pybullet_data/toys/concave_box.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/concave_box.mtl rename to examples/pycram_bullet/gym/pybullet_data/toys/concave_box.mtl diff --git a/examples/pybullet/gym/pybullet_data/toys/concave_box.obj b/examples/pycram_bullet/gym/pybullet_data/toys/concave_box.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/concave_box.obj rename to examples/pycram_bullet/gym/pybullet_data/toys/concave_box.obj diff --git a/examples/pybullet/gym/pybullet_data/toys/concave_box.urdf b/examples/pycram_bullet/gym/pybullet_data/toys/concave_box.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/concave_box.urdf rename to examples/pycram_bullet/gym/pybullet_data/toys/concave_box.urdf diff --git a/examples/pybullet/gym/pybullet_data/toys/cube.mtl b/examples/pycram_bullet/gym/pybullet_data/toys/cube.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/cube.mtl rename to examples/pycram_bullet/gym/pybullet_data/toys/cube.mtl diff --git a/examples/pybullet/gym/pybullet_data/toys/cube.obj b/examples/pycram_bullet/gym/pybullet_data/toys/cube.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/cube.obj rename to examples/pycram_bullet/gym/pybullet_data/toys/cube.obj diff --git a/examples/pybullet/gym/pybullet_data/toys/cylinder.mtl b/examples/pycram_bullet/gym/pybullet_data/toys/cylinder.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/cylinder.mtl rename to examples/pycram_bullet/gym/pybullet_data/toys/cylinder.mtl diff --git a/examples/pybullet/gym/pybullet_data/toys/cylinder.obj b/examples/pycram_bullet/gym/pybullet_data/toys/cylinder.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/cylinder.obj rename to examples/pycram_bullet/gym/pybullet_data/toys/cylinder.obj diff --git a/examples/pybullet/gym/pybullet_data/toys/prism.mtl b/examples/pycram_bullet/gym/pybullet_data/toys/prism.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/prism.mtl rename to examples/pycram_bullet/gym/pybullet_data/toys/prism.mtl diff --git a/examples/pybullet/gym/pybullet_data/toys/prism.obj b/examples/pycram_bullet/gym/pybullet_data/toys/prism.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/prism.obj rename to examples/pycram_bullet/gym/pybullet_data/toys/prism.obj diff --git a/examples/pybullet/gym/pybullet_data/toys/shape_sorter.mtl b/examples/pycram_bullet/gym/pybullet_data/toys/shape_sorter.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/shape_sorter.mtl rename to examples/pycram_bullet/gym/pybullet_data/toys/shape_sorter.mtl diff --git a/examples/pybullet/gym/pybullet_data/toys/shape_sorter.obj b/examples/pycram_bullet/gym/pybullet_data/toys/shape_sorter.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/toys/shape_sorter.obj rename to examples/pycram_bullet/gym/pybullet_data/toys/shape_sorter.obj diff --git a/examples/pybullet/gym/pybullet_data/tray/tray.jpg b/examples/pycram_bullet/gym/pybullet_data/tray/tray.jpg similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/tray.jpg rename to examples/pycram_bullet/gym/pybullet_data/tray/tray.jpg diff --git a/examples/pybullet/gym/pybullet_data/tray/tray.urdf b/examples/pycram_bullet/gym/pybullet_data/tray/tray.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/tray.urdf rename to examples/pycram_bullet/gym/pybullet_data/tray/tray.urdf diff --git a/examples/pybullet/gym/pybullet_data/tray/tray_textured.mtl b/examples/pycram_bullet/gym/pybullet_data/tray/tray_textured.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/tray_textured.mtl rename to examples/pycram_bullet/gym/pybullet_data/tray/tray_textured.mtl diff --git a/examples/pybullet/gym/pybullet_data/tray/tray_textured.obj b/examples/pycram_bullet/gym/pybullet_data/tray/tray_textured.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/tray_textured.obj rename to examples/pycram_bullet/gym/pybullet_data/tray/tray_textured.obj diff --git a/examples/pybullet/gym/pybullet_data/tray/tray_textured2.mtl b/examples/pycram_bullet/gym/pybullet_data/tray/tray_textured2.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/tray_textured2.mtl rename to examples/pycram_bullet/gym/pybullet_data/tray/tray_textured2.mtl diff --git a/examples/pybullet/gym/pybullet_data/tray/tray_textured2.obj b/examples/pycram_bullet/gym/pybullet_data/tray/tray_textured2.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/tray_textured2.obj rename to examples/pycram_bullet/gym/pybullet_data/tray/tray_textured2.obj diff --git a/examples/pybullet/gym/pybullet_data/tray/tray_textured2.urdf b/examples/pycram_bullet/gym/pybullet_data/tray/tray_textured2.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/tray_textured2.urdf rename to examples/pycram_bullet/gym/pybullet_data/tray/tray_textured2.urdf diff --git a/examples/pybullet/gym/pybullet_data/tray/tray_textured4.mtl b/examples/pycram_bullet/gym/pybullet_data/tray/tray_textured4.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/tray_textured4.mtl rename to examples/pycram_bullet/gym/pybullet_data/tray/tray_textured4.mtl diff --git a/examples/pybullet/gym/pybullet_data/tray/tray_textured4.obj b/examples/pycram_bullet/gym/pybullet_data/tray/tray_textured4.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/tray_textured4.obj rename to examples/pycram_bullet/gym/pybullet_data/tray/tray_textured4.obj diff --git a/examples/pybullet/gym/pybullet_data/tray/traybox.urdf b/examples/pycram_bullet/gym/pybullet_data/tray/traybox.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/tray/traybox.urdf rename to examples/pycram_bullet/gym/pybullet_data/tray/traybox.urdf diff --git a/examples/pybullet/gym/pybullet_data/urdf/mug.obj b/examples/pycram_bullet/gym/pybullet_data/urdf/mug.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/urdf/mug.obj rename to examples/pycram_bullet/gym/pybullet_data/urdf/mug.obj diff --git a/examples/pybullet/gym/pybullet_data/urdf/mug.urdf b/examples/pycram_bullet/gym/pybullet_data/urdf/mug.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/urdf/mug.urdf rename to examples/pycram_bullet/gym/pybullet_data/urdf/mug.urdf diff --git a/examples/pybullet/gym/pybullet_data/urdf/mug_col.obj b/examples/pycram_bullet/gym/pybullet_data/urdf/mug_col.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/urdf/mug_col.obj rename to examples/pycram_bullet/gym/pybullet_data/urdf/mug_col.obj diff --git a/examples/pybullet/gym/pybullet_data/uvmap.png b/examples/pycram_bullet/gym/pybullet_data/uvmap.png similarity index 100% rename from examples/pybullet/gym/pybullet_data/uvmap.png rename to examples/pycram_bullet/gym/pybullet_data/uvmap.png diff --git a/examples/pybullet/gym/pybullet_data/xarm/LICENSE b/examples/pycram_bullet/gym/pybullet_data/xarm/LICENSE similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/LICENSE rename to examples/pycram_bullet/gym/pybullet_data/xarm/LICENSE diff --git a/examples/pybullet/gym/pybullet_data/xarm/base.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/base.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/base.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/base.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/base_com.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/base_com.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/base_com.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link1.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link1.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link1.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link1.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link1_com.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link1_com.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link2.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link2.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link2.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link2.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link2_com.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link2_com.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link3.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link3.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link3.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link3.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link3_com.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link3_com.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link4.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link4.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link4.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link4.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link4_com.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link4_com.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link5.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link5.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link5.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link5.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link5_com.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link5_com.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link6.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link6.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link6.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link6.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/link6_com.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/link6_com.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm6_robot.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm6_robot.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1.mtl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1.mtl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1.mtl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2.mtl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2.mtl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2.mtl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.mtl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.mtl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.mtl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.obj b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.obj rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.obj diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3.mtl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3.mtl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3.mtl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5.mtl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5.mtl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5.mtl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/base.stl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/base.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/base.stl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/base.stl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link1.stl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link1.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link1.stl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link1.stl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link2.stl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link2.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link2.stl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link2.stl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link3.stl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link3.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link3.stl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link3.stl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link4.stl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link4.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link4.stl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link4.stl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link5.stl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link5.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link5.stl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link5.stl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link6.stl b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link6.stl similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link6.stl rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link6.stl diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/base_link.STL b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/base_link.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/base_link.STL rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/base_link.STL diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_finger.STL b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_finger.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_finger.STL rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_finger.STL diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_inner_knuckle.STL b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_inner_knuckle.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_inner_knuckle.STL rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_inner_knuckle.STL diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_outer_knuckle.STL b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_outer_knuckle.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_outer_knuckle.STL rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_outer_knuckle.STL diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_finger.STL b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_finger.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_finger.STL rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_finger.STL diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_inner_knuckle.STL b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_inner_knuckle.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_inner_knuckle.STL rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_inner_knuckle.STL diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_outer_knuckle.STL b/examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_outer_knuckle.STL similarity index 100% rename from examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_outer_knuckle.STL rename to examples/pycram_bullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_outer_knuckle.STL diff --git a/examples/pybullet/gym/pybullet_envs/ARS/ars.py b/examples/pycram_bullet/gym/pybullet_envs/ARS/ars.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/ARS/ars.py rename to examples/pycram_bullet/gym/pybullet_envs/ARS/ars.py index 51bc776db7..da0cecf422 100644 --- a/examples/pybullet/gym/pybullet_envs/ARS/ars.py +++ b/examples/pycram_bullet/gym/pybullet_envs/ARS/ars.py @@ -11,7 +11,7 @@ import numpy as np import gym from gym import wrappers -import pybullet_envs +import pycram_bullet_envs import time import multiprocessing as mp from multiprocessing import Process, Pipe diff --git a/examples/pybullet/gym/pybullet_envs/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/__init__.py similarity index 62% rename from examples/pybullet/gym/pybullet_envs/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/__init__.py index 031efef74f..13655243f1 100644 --- a/examples/pybullet/gym/pybullet_envs/__init__.py +++ b/examples/pycram_bullet/gym/pybullet_envs/__init__.py @@ -13,28 +13,28 @@ def register(id, *args, **kvargs): register( id='HumanoidDeepMimicBackflipBulletEnv-v1', - entry_point='pybullet_envs.deep_mimic.gym_env:HumanoidDeepMimicBackflipBulletEnv', + entry_point='pycram_bullet_envs.deep_mimic.gym_env:HumanoidDeepMimicBackflipBulletEnv', max_episode_steps=2000, reward_threshold=2000.0, ) register( id='HumanoidDeepMimicWalkBulletEnv-v1', - entry_point='pybullet_envs.deep_mimic.gym_env:HumanoidDeepMimicWalkBulletEnv', + entry_point='pycram_bullet_envs.deep_mimic.gym_env:HumanoidDeepMimicWalkBulletEnv', max_episode_steps=2000, reward_threshold=2000.0, ) register( id='CartPoleBulletEnv-v1', - entry_point='pybullet_envs.bullet:CartPoleBulletEnv', + entry_point='pycram_bullet_envs.bullet:CartPoleBulletEnv', max_episode_steps=200, reward_threshold=190.0, ) register( id='CartPoleContinuousBulletEnv-v0', - entry_point='pybullet_envs.bullet:CartPoleContinuousBulletEnv', + entry_point='pycram_bullet_envs.bullet:CartPoleContinuousBulletEnv', max_episode_steps=200, reward_threshold=190.0, ) @@ -42,21 +42,21 @@ def register(id, *args, **kvargs): register( id='MinitaurBulletEnv-v0', - entry_point='pybullet_envs.bullet:MinitaurBulletEnv', + entry_point='pycram_bullet_envs.bullet:MinitaurBulletEnv', max_episode_steps=1000, reward_threshold=15.0, ) register( id='MinitaurBulletDuckEnv-v0', - entry_point='pybullet_envs.bullet:MinitaurBulletDuckEnv', + entry_point='pycram_bullet_envs.bullet:MinitaurBulletDuckEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='MinitaurExtendedEnv-v0', - entry_point='pybullet_envs.minitaur.envs:MinitaurExtendedEnv', + entry_point='pycram_bullet_envs.minitaur.envs:MinitaurExtendedEnv', max_episode_steps=1000, reward_threshold=5.0, ) @@ -64,165 +64,165 @@ def register(id, *args, **kvargs): register( id='MinitaurReactiveEnv-v0', - entry_point='pybullet_envs.minitaur.envs:MinitaurReactiveEnv', + entry_point='pycram_bullet_envs.minitaur.envs:MinitaurReactiveEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='MinitaurBallGymEnv-v0', - entry_point='pybullet_envs.minitaur.envs:MinitaurBallGymEnv', + entry_point='pycram_bullet_envs.minitaur.envs:MinitaurBallGymEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='MinitaurTrottingEnv-v0', - entry_point='pybullet_envs.minitaur.envs:MinitaurTrottingEnv', + entry_point='pycram_bullet_envs.minitaur.envs:MinitaurTrottingEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='MinitaurStandGymEnv-v0', - entry_point='pybullet_envs.minitaur.envs:MinitaurStandGymEnv', + entry_point='pycram_bullet_envs.minitaur.envs:MinitaurStandGymEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='MinitaurAlternatingLegsEnv-v0', - entry_point='pybullet_envs.minitaur.envs:MinitaurAlternatingLegsEnv', + entry_point='pycram_bullet_envs.minitaur.envs:MinitaurAlternatingLegsEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='MinitaurFourLegStandEnv-v0', - entry_point='pybullet_envs.minitaur.envs:MinitaurFourLegStandEnv', + entry_point='pycram_bullet_envs.minitaur.envs:MinitaurFourLegStandEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='RacecarBulletEnv-v0', - entry_point='pybullet_envs.bullet:RacecarGymEnv', + entry_point='pycram_bullet_envs.bullet:RacecarGymEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='RacecarZedBulletEnv-v0', - entry_point='pybullet_envs.bullet:RacecarZEDGymEnv', + entry_point='pycram_bullet_envs.bullet:RacecarZEDGymEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='KukaBulletEnv-v0', - entry_point='pybullet_envs.bullet:KukaGymEnv', + entry_point='pycram_bullet_envs.bullet:KukaGymEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='KukaCamBulletEnv-v0', - entry_point='pybullet_envs.bullet:KukaCamGymEnv', + entry_point='pycram_bullet_envs.bullet:KukaCamGymEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='KukaDiverseObjectGrasping-v0', - entry_point='pybullet_envs.bullet:KukaDiverseObjectEnv', + entry_point='pycram_bullet_envs.bullet:KukaDiverseObjectEnv', max_episode_steps=1000, reward_threshold=5.0, ) register( id='InvertedPendulumBulletEnv-v0', - entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumBulletEnv', + entry_point='pycram_bullet_envs.gym_pendulum_envs:InvertedPendulumBulletEnv', max_episode_steps=1000, reward_threshold=950.0, ) register( id='InvertedDoublePendulumBulletEnv-v0', - entry_point='pybullet_envs.gym_pendulum_envs:InvertedDoublePendulumBulletEnv', + entry_point='pycram_bullet_envs.gym_pendulum_envs:InvertedDoublePendulumBulletEnv', max_episode_steps=1000, reward_threshold=9100.0, ) register( id='InvertedPendulumSwingupBulletEnv-v0', - entry_point='pybullet_envs.gym_pendulum_envs:InvertedPendulumSwingupBulletEnv', + entry_point='pycram_bullet_envs.gym_pendulum_envs:InvertedPendulumSwingupBulletEnv', max_episode_steps=1000, reward_threshold=800.0, ) register( id='ReacherBulletEnv-v0', - entry_point='pybullet_envs.gym_manipulator_envs:ReacherBulletEnv', + entry_point='pycram_bullet_envs.gym_manipulator_envs:ReacherBulletEnv', max_episode_steps=150, reward_threshold=18.0, ) register( id='PusherBulletEnv-v0', - entry_point='pybullet_envs.gym_manipulator_envs:PusherBulletEnv', + entry_point='pycram_bullet_envs.gym_manipulator_envs:PusherBulletEnv', max_episode_steps=150, reward_threshold=18.0, ) register( id='ThrowerBulletEnv-v0', - entry_point='pybullet_envs.gym_manipulator_envs:ThrowerBulletEnv', + entry_point='pycram_bullet_envs.gym_manipulator_envs:ThrowerBulletEnv', max_episode_steps=100, reward_threshold=18.0, ) #register( # id='StrikerBulletEnv-v0', -# entry_point='pybullet_envs.gym_manipulator_envs:StrikerBulletEnv', +# entry_point='pycram_bullet_envs.gym_manipulator_envs:StrikerBulletEnv', # max_episode_steps=100, # reward_threshold=18.0, #) register(id='Walker2DBulletEnv-v0', - entry_point='pybullet_envs.gym_locomotion_envs:Walker2DBulletEnv', + entry_point='pycram_bullet_envs.gym_locomotion_envs:Walker2DBulletEnv', max_episode_steps=1000, reward_threshold=2500.0) register(id='HalfCheetahBulletEnv-v0', - entry_point='pybullet_envs.gym_locomotion_envs:HalfCheetahBulletEnv', + entry_point='pycram_bullet_envs.gym_locomotion_envs:HalfCheetahBulletEnv', max_episode_steps=1000, reward_threshold=3000.0) register(id='AntBulletEnv-v0', - entry_point='pybullet_envs.gym_locomotion_envs:AntBulletEnv', + entry_point='pycram_bullet_envs.gym_locomotion_envs:AntBulletEnv', max_episode_steps=1000, reward_threshold=2500.0) register(id='HopperBulletEnv-v0', - entry_point='pybullet_envs.gym_locomotion_envs:HopperBulletEnv', + entry_point='pycram_bullet_envs.gym_locomotion_envs:HopperBulletEnv', max_episode_steps=1000, reward_threshold=2500.0) register(id='HumanoidBulletEnv-v0', - entry_point='pybullet_envs.gym_locomotion_envs:HumanoidBulletEnv', + entry_point='pycram_bullet_envs.gym_locomotion_envs:HumanoidBulletEnv', max_episode_steps=1000) register(id='HumanoidFlagrunBulletEnv-v0', - entry_point='pybullet_envs.gym_locomotion_envs:HumanoidFlagrunBulletEnv', + entry_point='pycram_bullet_envs.gym_locomotion_envs:HumanoidFlagrunBulletEnv', max_episode_steps=1000, reward_threshold=2000.0) register(id='HumanoidFlagrunHarderBulletEnv-v0', - entry_point='pybullet_envs.gym_locomotion_envs:HumanoidFlagrunHarderBulletEnv', + entry_point='pycram_bullet_envs.gym_locomotion_envs:HumanoidFlagrunHarderBulletEnv', max_episode_steps=1000) #register( # id='AtlasBulletEnv-v0', -# entry_point='pybullet_envs.gym_locomotion_envs:AtlasBulletEnv', +# entry_point='pycram_bullet_envs.gym_locomotion_envs:AtlasBulletEnv', # max_episode_steps=1000 # ) diff --git a/examples/pybullet/gym/pybullet_envs/agents/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/agents/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/configs.py b/examples/pycram_bullet/gym/pybullet_envs/agents/configs.py similarity index 87% rename from examples/pybullet/gym/pybullet_envs/agents/configs.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/configs.py index 7e78486d12..68d517796c 100644 --- a/examples/pybullet/gym/pybullet_envs/agents/configs.py +++ b/examples/pycram_bullet/gym/pybullet_envs/agents/configs.py @@ -21,11 +21,11 @@ from . import ppo from . import networks -from pybullet_envs.bullet import minitaur_gym_env -from pybullet_envs.bullet import minitaur_duck_gym_env -from pybullet_envs.bullet import minitaur_env_randomizer -import pybullet_envs.bullet.minitaur_gym_env as minitaur_gym_env -import pybullet_envs +from pycram_bullet_envs.bullet import minitaur_gym_env +from pycram_bullet_envs.bullet import minitaur_duck_gym_env +from pycram_bullet_envs.bullet import minitaur_env_randomizer +import pycram_bullet_envs.bullet.minitaur_gym_env as minitaur_gym_env +import pycram_bullet_envs try: import tensorflow.compat.v1 as tf except Exception: @@ -62,7 +62,7 @@ def default(): return locals() -def pybullet_pendulum(): +def pycram_bullet_pendulum(): locals().update(default()) env = 'InvertedPendulumBulletEnv-v0' max_length = 200 @@ -70,7 +70,7 @@ def pybullet_pendulum(): return locals() -def pybullet_doublependulum(): +def pycram_bullet_doublependulum(): locals().update(default()) env = 'InvertedDoublePendulumBulletEnv-v0' max_length = 1000 @@ -78,7 +78,7 @@ def pybullet_doublependulum(): return locals() -def pybullet_pendulumswingup(): +def pycram_bullet_pendulumswingup(): locals().update(default()) env = 'InvertedPendulumSwingupBulletEnv-v0' max_length = 1000 @@ -86,7 +86,7 @@ def pybullet_pendulumswingup(): return locals() -def pybullet_cheetah(): +def pycram_bullet_cheetah(): """Configuration for MuJoCo's half cheetah task.""" locals().update(default()) # Environment @@ -96,7 +96,7 @@ def pybullet_cheetah(): return locals() -def pybullet_ant(): +def pycram_bullet_ant(): locals().update(default()) env = 'AntBulletEnv-v0' max_length = 1000 @@ -104,7 +104,7 @@ def pybullet_ant(): return locals() -def pybullet_kuka_grasping(): +def pycram_bullet_kuka_grasping(): """Configuration for Bullet Kuka grasping task.""" locals().update(default()) # Environment @@ -114,7 +114,7 @@ def pybullet_kuka_grasping(): return locals() -def pybullet_racecar(): +def pycram_bullet_racecar(): """Configuration for Bullet MIT Racecar task.""" locals().update(default()) # Environment @@ -124,7 +124,7 @@ def pybullet_racecar(): return locals() -def pybullet_humanoid(): +def pycram_bullet_humanoid(): locals().update(default()) randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer()) env = 'HumanoidBulletEnv-v0' @@ -133,7 +133,7 @@ def pybullet_humanoid(): return locals() -def pybullet_minitaur(): +def pycram_bullet_minitaur(): """Configuration specific to minitaur_gym_env.MinitaurBulletEnv class.""" locals().update(default()) randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer()) @@ -148,7 +148,7 @@ def pybullet_minitaur(): return locals() -def pybullet_duck_minitaur(): +def pycram_bullet_duck_minitaur(): """Configuration specific to minitaur_gym_env.MinitaurBulletDuckEnv class.""" locals().update(default()) randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer()) diff --git a/examples/pybullet/gym/pybullet_envs/agents/networks.py b/examples/pycram_bullet/gym/pybullet_envs/agents/networks.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/networks.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/networks.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/ppo/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/agents/ppo/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/ppo/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/ppo/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/ppo/algorithm.py b/examples/pycram_bullet/gym/pybullet_envs/agents/ppo/algorithm.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/ppo/algorithm.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/ppo/algorithm.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/ppo/memory.py b/examples/pycram_bullet/gym/pybullet_envs/agents/ppo/memory.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/ppo/memory.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/ppo/memory.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/ppo/normalize.py b/examples/pycram_bullet/gym/pybullet_envs/agents/ppo/normalize.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/ppo/normalize.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/ppo/normalize.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/ppo/utility.py b/examples/pycram_bullet/gym/pybullet_envs/agents/ppo/utility.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/ppo/utility.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/ppo/utility.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/attr_dict.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/attr_dict.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/attr_dict.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/attr_dict.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/batch_env.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/batch_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/batch_env.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/batch_env.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/count_weights.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/count_weights.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/count_weights.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/count_weights.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/in_graph_batch_env.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/in_graph_batch_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/in_graph_batch_env.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/in_graph_batch_env.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/in_graph_env.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/in_graph_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/in_graph_env.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/in_graph_env.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/loop.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/loop.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/loop.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/loop.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/mock_algorithm.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/mock_algorithm.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/mock_algorithm.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/mock_algorithm.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/mock_environment.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/mock_environment.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/mock_environment.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/mock_environment.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/simulate.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/simulate.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/simulate.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/simulate.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/streaming_mean.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/streaming_mean.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/streaming_mean.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/streaming_mean.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/tools/wrappers.py b/examples/pycram_bullet/gym/pybullet_envs/agents/tools/wrappers.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/tools/wrappers.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/tools/wrappers.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/train_ppo.py b/examples/pycram_bullet/gym/pybullet_envs/agents/train_ppo.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/train_ppo.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/train_ppo.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/utility.py b/examples/pycram_bullet/gym/pybullet_envs/agents/utility.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/utility.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/utility.py diff --git a/examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py b/examples/pycram_bullet/gym/pybullet_envs/agents/visualize_ppo.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py rename to examples/pycram_bullet/gym/pybullet_envs/agents/visualize_ppo.py diff --git a/examples/pycram_bullet/gym/pybullet_envs/baselines/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/__init__.py new file mode 100644 index 0000000000..d95e74161f --- /dev/null +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/__init__.py @@ -0,0 +1,9 @@ +from . import enjoy_kuka_grasping +from . import enjoy_pycram_bullet_cartpole +from . import enjoy_pycram_bullet_racecar +from . import enjoy_pycram_bullet_zed_racecar +from . import train_kuka_cam_grasping +from . import train_kuka_grasping +from . import train_pycram_bullet_cartpole +from . import train_pycram_bullet_racecar +from . import train_pycram_bullet_zed_racecar diff --git a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_diverse_object_grasping.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_kuka_diverse_object_grasping.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_diverse_object_grasping.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_kuka_diverse_object_grasping.py index 509e33d1f9..362f5b36ae 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_diverse_object_grasping.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_kuka_diverse_object_grasping.py @@ -9,7 +9,7 @@ os.sys.path.insert(0, parentdir) import gym -from pybullet_envs.bullet.kuka_diverse_object_gym_env import KukaDiverseObjectEnv +from pycram_bullet_envs.bullet.kuka_diverse_object_gym_env import KukaDiverseObjectEnv from gym import spaces diff --git a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py index 422a7a621a..a7ac6fe395 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py @@ -5,7 +5,7 @@ os.sys.path.insert(0, parentdir) import gym -from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv +from pycram_bullet_envs.bullet.kukaGymEnv import KukaGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_pybullet_cartpole.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_pybullet_cartpole.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/baselines/enjoy_pybullet_cartpole.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_pybullet_cartpole.py index 341029dd4e..f4c91123af 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_pybullet_cartpole.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_pybullet_cartpole.py @@ -8,7 +8,7 @@ import time from baselines import deepq -from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv +from pycram_bullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv def main(): diff --git a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_pybullet_racecar.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_pybullet_racecar.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/baselines/enjoy_pybullet_racecar.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_pybullet_racecar.py index 64936dd9a7..86ba9098bb 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_pybullet_racecar.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_pybullet_racecar.py @@ -5,7 +5,7 @@ os.sys.path.insert(0, parentdir) import gym -from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv +from pycram_bullet_envs.bullet.racecarGymEnv import RacecarGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_pybullet_zed_racecar.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_pybullet_zed_racecar.py similarity index 91% rename from examples/pybullet/gym/pybullet_envs/baselines/enjoy_pybullet_zed_racecar.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_pybullet_zed_racecar.py index a8bcaa9879..986b8cced8 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_pybullet_zed_racecar.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/enjoy_pybullet_zed_racecar.py @@ -5,7 +5,7 @@ os.sys.path.insert(0, parentdir) import gym -from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv +from pycram_bullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py index 804be59f6a..4e44be266b 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py @@ -5,7 +5,7 @@ os.sys.path.insert(0, parentdir) import gym -from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv +from pycram_bullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_grasping.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_kuka_grasping.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/baselines/train_kuka_grasping.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/train_kuka_grasping.py index 10225a1942..48c2777339 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_grasping.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_kuka_grasping.py @@ -5,7 +5,7 @@ os.sys.path.insert(0, parentdir) import gym -from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv +from pycram_bullet_envs.bullet.kukaGymEnv import KukaGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/pybullet_envs/baselines/train_pybullet_cartpole.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_pybullet_cartpole.py similarity index 93% rename from examples/pybullet/gym/pybullet_envs/baselines/train_pybullet_cartpole.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/train_pybullet_cartpole.py index 9c369a3a2d..4cfc031e43 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/train_pybullet_cartpole.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_pybullet_cartpole.py @@ -5,7 +5,7 @@ os.sys.path.insert(0, parentdir) import gym -from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv +from pycram_bullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv from baselines import deepq diff --git a/examples/pybullet/gym/pybullet_envs/baselines/train_pybullet_racecar.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_pybullet_racecar.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/baselines/train_pybullet_racecar.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/train_pybullet_racecar.py index 9b06bcfb2f..4cc6963326 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/train_pybullet_racecar.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_pybullet_racecar.py @@ -5,7 +5,7 @@ os.sys.path.insert(0, parentdir) import gym -from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv +from pycram_bullet_envs.bullet.racecarGymEnv import RacecarGymEnv from baselines import deepq diff --git a/examples/pybullet/gym/pybullet_envs/baselines/train_pybullet_zed_racecar.py b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_pybullet_zed_racecar.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/baselines/train_pybullet_zed_racecar.py rename to examples/pycram_bullet/gym/pybullet_envs/baselines/train_pybullet_zed_racecar.py index 825197b79a..0f1e1c097a 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/train_pybullet_zed_racecar.py +++ b/examples/pycram_bullet/gym/pybullet_envs/baselines/train_pybullet_zed_racecar.py @@ -5,7 +5,7 @@ os.sys.path.insert(0, parentdir) import gym -from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv +from pycram_bullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv from baselines import deepq diff --git a/examples/pycram_bullet/gym/pybullet_envs/bullet/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/__init__.py new file mode 100644 index 0000000000..0e04d39b82 --- /dev/null +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/__init__.py @@ -0,0 +1,9 @@ +from pycram_bullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv +from pycram_bullet_envs.bullet.cartpole_bullet import CartPoleContinuousBulletEnv +from pycram_bullet_envs.bullet.minitaur_gym_env import MinitaurBulletEnv +from pycram_bullet_envs.bullet.minitaur_duck_gym_env import MinitaurBulletDuckEnv +from pycram_bullet_envs.bullet.racecarGymEnv import RacecarGymEnv +from pycram_bullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv +from pycram_bullet_envs.bullet.kukaGymEnv import KukaGymEnv +from pycram_bullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv +from pycram_bullet_envs.bullet.kuka_diverse_object_gym_env import KukaDiverseObjectEnv diff --git a/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/cartpole_bullet.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/cartpole_bullet.py index 399b7f455a..ea7ab03203 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/cartpole_bullet.py @@ -15,9 +15,9 @@ import numpy as np import time import subprocess -import pybullet as p2 -import pybullet_data -from pybullet_utils import bullet_client as bc +import pycram_bullet as p2 +import pycram_bullet_data +from pycram_bullet_utils import bullet_client as bc from pkg_resources import parse_version logger = logging.getLogger(__name__) @@ -97,7 +97,7 @@ def reset(self): p = self._p p.resetSimulation() - self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(), "cartpole.urdf"), + self.cartpole = p.loadURDF(os.path.join(pycram_bullet_data.getDataPath(), "cartpole.urdf"), [0, 0, 0]) p.changeDynamics(self.cartpole, -1, linearDamping=0, angularDamping=0) p.changeDynamics(self.cartpole, 0, linearDamping=0, angularDamping=0) diff --git a/examples/pybullet/gym/pybullet_envs/bullet/env_randomizer_base.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/env_randomizer_base.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/bullet/env_randomizer_base.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/env_randomizer_base.py diff --git a/examples/pybullet/gym/pybullet_envs/bullet/kuka.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/kuka.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/bullet/kuka.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/kuka.py index b2a4ffb30a..ff8b35a6b7 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/kuka.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/kuka.py @@ -3,16 +3,16 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -import pybullet as p +import pycram_bullet as p import numpy as np import copy import math -import pybullet_data +import pycram_bullet_data class Kuka: - def __init__(self, urdfRootPath=pybullet_data.getDataPath(), timeStep=0.01): + def __init__(self, urdfRootPath=pycram_bullet_data.getDataPath(), timeStep=0.01): self.urdfRootPath = urdfRootPath self.timeStep = timeStep self.maxVelocity = .35 diff --git a/examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py index bb715ec41a..21d84d070e 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py @@ -9,10 +9,10 @@ from gym.utils import seeding import numpy as np import time -import pybullet as p +import pycram_bullet as p from . import kuka import random -import pybullet_data +import pycram_bullet_data from pkg_resources import parse_version maxSteps = 1000 @@ -25,7 +25,7 @@ class KukaCamGymEnv(gym.Env): metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50} def __init__(self, - urdfRoot=pybullet_data.getDataPath(), + urdfRoot=pycram_bullet_data.getDataPath(), actionRepeat=1, isEnableSelfCollision=True, renders=False, diff --git a/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/kukaGymEnv.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/kukaGymEnv.py index f47a0dd13d..de18f426ae 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/kukaGymEnv.py @@ -9,10 +9,10 @@ from gym.utils import seeding import numpy as np import time -import pybullet as p +import pycram_bullet as p from . import kuka import random -import pybullet_data +import pycram_bullet_data from pkg_resources import parse_version largeValObservation = 100 @@ -25,7 +25,7 @@ class KukaGymEnv(gym.Env): metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50} def __init__(self, - urdfRoot=pybullet_data.getDataPath(), + urdfRoot=pycram_bullet_data.getDataPath(), actionRepeat=1, isEnableSelfCollision=True, renders=False, diff --git a/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py index 294a5984a3..c3064e3233 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py @@ -1,12 +1,12 @@ -from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv +from pycram_bullet_envs.bullet.kukaGymEnv import KukaGymEnv import random import os from gym import spaces import time -import pybullet as p +import pycram_bullet as p from . import kuka import numpy as np -import pybullet_data +import pycram_bullet_data import pdb import distutils.dir_util import glob @@ -22,7 +22,7 @@ class KukaDiverseObjectEnv(KukaGymEnv): """ def __init__(self, - urdfRoot=pybullet_data.getDataPath(), + urdfRoot=pycram_bullet_data.getDataPath(), actionRepeat=80, isEnableSelfCollision=True, renders=False, diff --git a/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur.py similarity index 85% rename from examples/pybullet/gym/pybullet_envs/bullet/minitaur.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur.py index 3f1c50a1fd..a88b0420c1 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur.py @@ -1,4 +1,4 @@ -"""This file implements the functionalities of a minitaur using pybullet. +"""This file implements the functionalities of a minitaur using pycram_bullet. """ import copy @@ -31,7 +31,7 @@ class Minitaur(object): """ def __init__(self, - pybullet_client, + pycram_bullet_client, urdf_root=os.path.join(os.path.dirname(__file__), "../data"), time_step=0.01, self_collision_enabled=False, @@ -47,7 +47,7 @@ def __init__(self, """Constructs a minitaur and reset it to the initial states. Args: - pybullet_client: The instance of BulletClient to manage different + pycram_bullet_client: The instance of BulletClient to manage different simulations. urdf_root: The path to the urdf folder. time_step: The time step of the simulation. @@ -70,7 +70,7 @@ def __init__(self, """ self.num_motors = 8 self.num_legs = int(self.num_motors / 2) - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._urdf_root = urdf_root self._self_collision_enabled = self_collision_enabled self._motor_velocity_limit = motor_velocity_limit @@ -99,18 +99,18 @@ def __init__(self, self.Reset() def _RecordMassInfoFromURDF(self): - self._base_mass_urdf = self._pybullet_client.getDynamicsInfo(self.quadruped, BASE_LINK_ID)[0] + self._base_mass_urdf = self._pycram_bullet_client.getDynamicsInfo(self.quadruped, BASE_LINK_ID)[0] self._leg_masses_urdf = [] self._leg_masses_urdf.append( - self._pybullet_client.getDynamicsInfo(self.quadruped, LEG_LINK_ID[0])[0]) + self._pycram_bullet_client.getDynamicsInfo(self.quadruped, LEG_LINK_ID[0])[0]) self._leg_masses_urdf.append( - self._pybullet_client.getDynamicsInfo(self.quadruped, MOTOR_LINK_ID[0])[0]) + self._pycram_bullet_client.getDynamicsInfo(self.quadruped, MOTOR_LINK_ID[0])[0]) def _BuildJointNameToIdDict(self): - num_joints = self._pybullet_client.getNumJoints(self.quadruped) + num_joints = self._pycram_bullet_client.getNumJoints(self.quadruped) self._joint_name_to_id = {} for i in range(num_joints): - joint_info = self._pybullet_client.getJointInfo(self.quadruped, i) + joint_info = self._pycram_bullet_client.getJointInfo(self.quadruped, i) self._joint_name_to_id[joint_info[1].decode("UTF-8")] = joint_info[0] def _BuildMotorIdList(self): @@ -125,40 +125,40 @@ def Reset(self, reload_urdf=True): """ if reload_urdf: if self._self_collision_enabled: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( "%s/quadruped/minitaur.urdf" % self._urdf_root, INIT_POSITION, - flags=self._pybullet_client.URDF_USE_SELF_COLLISION) + flags=self._pycram_bullet_client.URDF_USE_SELF_COLLISION) else: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( "%s/quadruped/minitaur.urdf" % self._urdf_root, INIT_POSITION) self._BuildJointNameToIdDict() self._BuildMotorIdList() self._RecordMassInfoFromURDF() self.ResetPose(add_constraint=True) if self._on_rack: - self._pybullet_client.createConstraint(self.quadruped, -1, -1, -1, - self._pybullet_client.JOINT_FIXED, [0, 0, 0], + self._pycram_bullet_client.createConstraint(self.quadruped, -1, -1, -1, + self._pycram_bullet_client.JOINT_FIXED, [0, 0, 0], [0, 0, 0], [0, 0, 1]) else: - self._pybullet_client.resetBasePositionAndOrientation(self.quadruped, INIT_POSITION, + self._pycram_bullet_client.resetBasePositionAndOrientation(self.quadruped, INIT_POSITION, INIT_ORIENTATION) - self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0]) + self._pycram_bullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0]) self.ResetPose(add_constraint=False) self._overheat_counter = np.zeros(self.num_motors) self._motor_enabled_list = [True] * self.num_motors def _SetMotorTorqueById(self, motor_id, torque): - self._pybullet_client.setJointMotorControl2(bodyIndex=self.quadruped, + self._pycram_bullet_client.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motor_id, - controlMode=self._pybullet_client.TORQUE_CONTROL, + controlMode=self._pycram_bullet_client.TORQUE_CONTROL, force=torque) def _SetDesiredMotorAngleById(self, motor_id, desired_angle): - self._pybullet_client.setJointMotorControl2(bodyIndex=self.quadruped, + self._pycram_bullet_client.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motor_id, - controlMode=self._pybullet_client.POSITION_CONTROL, + controlMode=self._pycram_bullet_client.POSITION_CONTROL, targetPosition=desired_angle, positionGain=self._kp, velocityGain=self._kd, @@ -189,45 +189,45 @@ def _ResetPoseForLeg(self, leg_id, add_constraint): knee_angle = -2.1834 leg_position = LEG_POSITION[leg_id] - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["motor_" + leg_position + "L_joint"], self._motor_direction[2 * leg_id] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_link"], self._motor_direction[2 * leg_id] * knee_angle, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["motor_" + leg_position + "R_joint"], self._motor_direction[2 * leg_id + 1] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_link"], self._motor_direction[2 * leg_id + 1] * knee_angle, targetVelocity=0) if add_constraint: - self._pybullet_client.createConstraint( + self._pycram_bullet_client.createConstraint( self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_link"], self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_link"], - self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_RIGHT, + self._pycram_bullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_RIGHT, KNEE_CONSTRAINT_POINT_LEFT) if self._accurate_motor_model_enabled or self._pd_control_enabled: - # Disable the default motor in pybullet. - self._pybullet_client.setJointMotorControl2( + # Disable the default motor in pycram_bullet. + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "L_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "R_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) @@ -237,16 +237,16 @@ def _ResetPoseForLeg(self, leg_id, add_constraint): self._SetDesiredMotorAngleByName("motor_" + leg_position + "R_joint", self._motor_direction[2 * leg_id + 1] * half_pi) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "L_link"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "R_link"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) @@ -256,7 +256,7 @@ def GetBasePosition(self): Returns: The position of minitaur's base. """ - position, _ = (self._pybullet_client.getBasePositionAndOrientation(self.quadruped)) + position, _ = (self._pycram_bullet_client.getBasePositionAndOrientation(self.quadruped)) return position def GetBaseOrientation(self): @@ -265,7 +265,7 @@ def GetBaseOrientation(self): Returns: The orientation of minitaur's base. """ - _, orientation = (self._pybullet_client.getBasePositionAndOrientation(self.quadruped)) + _, orientation = (self._pycram_bullet_client.getBasePositionAndOrientation(self.quadruped)) return orientation def GetActionDimension(self): @@ -393,7 +393,7 @@ def GetMotorAngles(self): Motor angles. """ motor_angles = [ - self._pybullet_client.getJointState(self.quadruped, motor_id)[0] + self._pycram_bullet_client.getJointState(self.quadruped, motor_id)[0] for motor_id in self._motor_id_list ] motor_angles = np.multiply(motor_angles, self._motor_direction) @@ -406,7 +406,7 @@ def GetMotorVelocities(self): Velocities of all eight motors. """ motor_velocities = [ - self._pybullet_client.getJointState(self.quadruped, motor_id)[1] + self._pycram_bullet_client.getJointState(self.quadruped, motor_id)[1] for motor_id in self._motor_id_list ] motor_velocities = np.multiply(motor_velocities, self._motor_direction) @@ -422,7 +422,7 @@ def GetMotorTorques(self): return self._observed_motor_torques else: motor_torques = [ - self._pybullet_client.getJointState(self.quadruped, motor_id)[3] + self._pycram_bullet_client.getJointState(self.quadruped, motor_id)[3] for motor_id in self._motor_id_list ] motor_torques = np.multiply(motor_torques, self._motor_direction) @@ -462,7 +462,7 @@ def GetLegMassesFromURDF(self): return self._leg_masses_urdf def SetBaseMass(self, base_mass): - self._pybullet_client.changeDynamics(self.quadruped, BASE_LINK_ID, mass=base_mass) + self._pycram_bullet_client.changeDynamics(self.quadruped, BASE_LINK_ID, mass=base_mass) def SetLegMasses(self, leg_masses): """Set the mass of the legs. @@ -476,9 +476,9 @@ def SetLegMasses(self, leg_masses): leg_masses[1] is the mass of the motor. """ for link_id in LEG_LINK_ID: - self._pybullet_client.changeDynamics(self.quadruped, link_id, mass=leg_masses[0]) + self._pycram_bullet_client.changeDynamics(self.quadruped, link_id, mass=leg_masses[0]) for link_id in MOTOR_LINK_ID: - self._pybullet_client.changeDynamics(self.quadruped, link_id, mass=leg_masses[1]) + self._pycram_bullet_client.changeDynamics(self.quadruped, link_id, mass=leg_masses[1]) def SetFootFriction(self, foot_friction): """Set the lateral friction of the feet. @@ -488,7 +488,7 @@ def SetFootFriction(self, foot_friction): shared by all four feet. """ for link_id in FOOT_LINK_ID: - self._pybullet_client.changeDynamics(self.quadruped, link_id, lateralFriction=foot_friction) + self._pycram_bullet_client.changeDynamics(self.quadruped, link_id, lateralFriction=foot_friction) def SetBatteryVoltage(self, voltage): if self._accurate_motor_model_enabled: diff --git a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py similarity index 89% rename from examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py index 6c2d9dabba..d293dba92e 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py @@ -16,10 +16,10 @@ from gym import spaces from gym.utils import seeding import numpy as np -import pybullet -from pybullet_utils import bullet_client as bc +import pycram_bullet +from pycram_bullet_utils import bullet_client as bc from . import minitaur -import pybullet_data +import pycram_bullet_data from . import minitaur_env_randomizer NUM_SUBSTEPS = 5 @@ -51,7 +51,7 @@ class MinitaurBulletDuckEnv(gym.Env): def __init__( self, - urdf_root=pybullet_data.getDataPath(), + urdf_root=pycram_bullet_data.getDataPath(), action_repeat=1, distance_weight=1.0, energy_weight=0.005, @@ -150,9 +150,9 @@ def __init__( self._action_repeat *= NUM_SUBSTEPS if self._is_render: - self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI) + self._pycram_bullet_client = bc.BulletClient(connection_mode=pycram_bullet.GUI) else: - self._pybullet_client = bc.BulletClient() + self._pycram_bullet_client = bc.BulletClient() self.seed() self.reset() @@ -173,17 +173,17 @@ def configure(self, args): def reset(self): if self._hard_reset: - self._pybullet_client.resetSimulation() - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.resetSimulation() + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=int(self._num_bullet_solver_iterations)) - self._pybullet_client.setTimeStep(self._time_step) - self._groundId = self._pybullet_client.loadURDF("%s/plane.urdf" % self._urdf_root) - self._duckId = self._pybullet_client.loadURDF("%s/duck_vhacd.urdf" % self._urdf_root, + self._pycram_bullet_client.setTimeStep(self._time_step) + self._groundId = self._pycram_bullet_client.loadURDF("%s/plane.urdf" % self._urdf_root) + self._duckId = self._pycram_bullet_client.loadURDF("%s/duck_vhacd.urdf" % self._urdf_root, duckStartPos, duckStartOrn) - self._pybullet_client.setGravity(0, 0, -10) + self._pycram_bullet_client.setGravity(0, 0, -10) acc_motor = self._accurate_motor_model_enabled motor_protect = self._motor_overheat_protection - self.minitaur = (minitaur.Minitaur(pybullet_client=self._pybullet_client, + self.minitaur = (minitaur.Minitaur(pycram_bullet_client=self._pycram_bullet_client, urdf_root=self._urdf_root, time_step=self._time_step, self_collision_enabled=self._self_collision_enabled, @@ -198,7 +198,7 @@ def reset(self): kd_for_pd_controllers=self._kd_for_pd_controllers)) else: self.minitaur.Reset(reload_urdf=False) - self._pybullet_client.resetBasePositionAndOrientation(self._duckId, duckStartPos, + self._pycram_bullet_client.resetBasePositionAndOrientation(self._duckId, duckStartPos, duckStartOrn) if self._env_randomizer is not None: self._env_randomizer.randomize_env(self) @@ -206,13 +206,13 @@ def reset(self): self._env_step_counter = 0 self._last_base_position = [0, 0, 0] self._objectives = [] - self._pybullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, + self._pycram_bullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, self._cam_pitch, [0, 0, 0]) if not self._torque_control_enabled: for _ in range(100): if self._pd_control_enabled or self._accurate_motor_model_enabled: self.minitaur.ApplyAction([math.pi / 2] * 8) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() return self._noisy_observation() def seed(self, seed=None): @@ -253,12 +253,12 @@ def step(self, action): if time_to_sleep > 0: time.sleep(time_to_sleep) base_pos = self.minitaur.GetBasePosition() - self._pybullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, + self._pycram_bullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, self._cam_pitch, base_pos) action = self._transform_action_to_motor_command(action) for _ in range(self._action_repeat): self.minitaur.ApplyAction(action) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self._env_step_counter += 1 reward = self._reward() @@ -269,24 +269,24 @@ def render(self, mode="rgb_array", close=False): if mode != "rgb_array": return np.array([]) base_pos = self.minitaur.GetBasePosition() - view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll( + view_matrix = self._pycram_bullet_client.computeViewMatrixFromYawPitchRoll( cameraTargetPosition=base_pos, distance=self._cam_dist, yaw=self._cam_yaw, pitch=self._cam_pitch, roll=0, upAxisIndex=2) - proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(fov=60, + proj_matrix = self._pycram_bullet_client.computeProjectionMatrixFOV(fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT, nearVal=0.1, farVal=100.0) (_, _, px, _, - _) = self._pybullet_client.getCameraImage(width=RENDER_WIDTH, + _) = self._pycram_bullet_client.getCameraImage(width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix, projectionMatrix=proj_matrix, - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) rgb_array = np.array(px) rgb_array = rgb_array[:, :, :3] return rgb_array @@ -329,7 +329,7 @@ def get_minitaur_base_orientation(self): return np.array(self._observation[BASE_ORIENTATION_OBSERVATION_INDEX:]) def lost_duck(self): - points = self._pybullet_client.getContactPoints(self._duckId, self._groundId) + points = self._pycram_bullet_client.getContactPoints(self._duckId, self._groundId) return len(points) > 0 def is_fallen(self): @@ -343,7 +343,7 @@ def is_fallen(self): Boolean value that indicates whether the minitaur has fallen. """ orientation = self.minitaur.GetBaseOrientation() - rot_mat = self._pybullet_client.getMatrixFromQuaternion(orientation) + rot_mat = self._pycram_bullet_client.getMatrixFromQuaternion(orientation) local_up = rot_mat[6:] pos = self.minitaur.GetBasePosition() return (np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.85 or pos[2] < 0.13) diff --git a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_env_randomizer.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur_env_randomizer.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/bullet/minitaur_env_randomizer.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur_env_randomizer.py diff --git a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur_gym_env.py similarity index 89% rename from examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur_gym_env.py index 1770fa5e3d..6a70295984 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/minitaur_gym_env.py @@ -13,11 +13,11 @@ from gym import spaces from gym.utils import seeding import numpy as np -import pybullet -from pybullet_utils import bullet_client as bc +import pycram_bullet +from pycram_bullet_utils import bullet_client as bc from . import minitaur import os -import pybullet_data +import pycram_bullet_data from . import minitaur_env_randomizer from pkg_resources import parse_version @@ -47,7 +47,7 @@ class MinitaurBulletEnv(gym.Env): def __init__( self, - urdf_root=pybullet_data.getDataPath(), + urdf_root=pycram_bullet_data.getDataPath(), action_repeat=1, distance_weight=1.0, energy_weight=0.005, @@ -145,9 +145,9 @@ def __init__( self._action_repeat *= NUM_SUBSTEPS if self._is_render: - self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI) + self._pycram_bullet_client = bc.BulletClient(connection_mode=pycram_bullet.GUI) else: - self._pybullet_client = bc.BulletClient() + self._pycram_bullet_client = bc.BulletClient() self.seed() self.reset() @@ -168,18 +168,18 @@ def configure(self, args): def reset(self): if self._hard_reset: - self._pybullet_client.resetSimulation() - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.resetSimulation() + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=int(self._num_bullet_solver_iterations)) - self._pybullet_client.setTimeStep(self._time_step) - plane = self._pybullet_client.loadURDF("%s/plane.urdf" % self._urdf_root) - self._pybullet_client.changeVisualShape(plane, -1, rgbaColor=[1, 1, 1, 0.9]) - self._pybullet_client.configureDebugVisualizer( - self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION, 0) - self._pybullet_client.setGravity(0, 0, -10) + self._pycram_bullet_client.setTimeStep(self._time_step) + plane = self._pycram_bullet_client.loadURDF("%s/plane.urdf" % self._urdf_root) + self._pycram_bullet_client.changeVisualShape(plane, -1, rgbaColor=[1, 1, 1, 0.9]) + self._pycram_bullet_client.configureDebugVisualizer( + self._pycram_bullet_client.COV_ENABLE_PLANAR_REFLECTION, 0) + self._pycram_bullet_client.setGravity(0, 0, -10) acc_motor = self._accurate_motor_model_enabled motor_protect = self._motor_overheat_protection - self.minitaur = (minitaur.Minitaur(pybullet_client=self._pybullet_client, + self.minitaur = (minitaur.Minitaur(pycram_bullet_client=self._pycram_bullet_client, urdf_root=self._urdf_root, time_step=self._time_step, self_collision_enabled=self._self_collision_enabled, @@ -201,13 +201,13 @@ def reset(self): self._env_step_counter = 0 self._last_base_position = [0, 0, 0] self._objectives = [] - self._pybullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, + self._pycram_bullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, self._cam_pitch, [0, 0, 0]) if not self._torque_control_enabled: for _ in range(100): if self._pd_control_enabled or self._accurate_motor_model_enabled: self.minitaur.ApplyAction([math.pi / 2] * 8) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() return self._noisy_observation() def seed(self, seed=None): @@ -248,7 +248,7 @@ def step(self, action): if time_to_sleep > 0: time.sleep(time_to_sleep) base_pos = self.minitaur.GetBasePosition() - camInfo = self._pybullet_client.getDebugVisualizerCamera() + camInfo = self._pycram_bullet_client.getDebugVisualizerCamera() curTargetPos = camInfo[11] distance = camInfo[10] yaw = camInfo[8] @@ -258,11 +258,11 @@ def step(self, action): curTargetPos[2] ] - self._pybullet_client.resetDebugVisualizerCamera(distance, yaw, pitch, base_pos) + self._pycram_bullet_client.resetDebugVisualizerCamera(distance, yaw, pitch, base_pos) action = self._transform_action_to_motor_command(action) for _ in range(self._action_repeat): self.minitaur.ApplyAction(action) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self._env_step_counter += 1 reward = self._reward() @@ -273,24 +273,24 @@ def render(self, mode="rgb_array", close=False): if mode != "rgb_array": return np.array([]) base_pos = self.minitaur.GetBasePosition() - view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll( + view_matrix = self._pycram_bullet_client.computeViewMatrixFromYawPitchRoll( cameraTargetPosition=base_pos, distance=self._cam_dist, yaw=self._cam_yaw, pitch=self._cam_pitch, roll=0, upAxisIndex=2) - proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(fov=60, + proj_matrix = self._pycram_bullet_client.computeProjectionMatrixFOV(fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT, nearVal=0.1, farVal=100.0) (_, _, px, _, - _) = self._pybullet_client.getCameraImage(width=RENDER_WIDTH, + _) = self._pycram_bullet_client.getCameraImage(width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix, projectionMatrix=proj_matrix, - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) rgb_array = np.array(px) rgb_array = rgb_array[:, :, :3] return rgb_array @@ -343,7 +343,7 @@ def is_fallen(self): Boolean value that indicates whether the minitaur has fallen. """ orientation = self.minitaur.GetBaseOrientation() - rot_mat = self._pybullet_client.getMatrixFromQuaternion(orientation) + rot_mat = self._pycram_bullet_client.getMatrixFromQuaternion(orientation) local_up = rot_mat[6:] pos = self.minitaur.GetBasePosition() return (np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.85 or pos[2] < 0.13) diff --git a/examples/pybullet/gym/pybullet_envs/bullet/motor.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/motor.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/bullet/motor.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/motor.py diff --git a/examples/pybullet/gym/pybullet_envs/bullet/racecar.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/racecar.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/bullet/racecar.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/racecar.py diff --git a/examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/racecarGymEnv.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/racecarGymEnv.py index 445ae7d652..e89d83f95a 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/racecarGymEnv.py @@ -9,11 +9,11 @@ from gym import spaces from gym.utils import seeding import numpy as np -import pybullet +import pycram_bullet from . import racecar import random -from pybullet_utils import bullet_client as bc -import pybullet_data +from pycram_bullet_utils import bullet_client as bc +import pycram_bullet_data from pkg_resources import parse_version RENDER_HEIGHT = 720 @@ -24,7 +24,7 @@ class RacecarGymEnv(gym.Env): metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50} def __init__(self, - urdfRoot=pybullet_data.getDataPath(), + urdfRoot=pycram_bullet_data.getDataPath(), actionRepeat=50, isEnableSelfCollision=True, isDiscrete=False, @@ -40,7 +40,7 @@ def __init__(self, self._renders = renders self._isDiscrete = isDiscrete if self._renders: - self._p = bc.BulletClient(connection_mode=pybullet.GUI) + self._p = bc.BulletClient(connection_mode=pycram_bullet.GUI) else: self._p = bc.BulletClient() @@ -155,7 +155,7 @@ def render(self, mode='human', close=False): height=RENDER_HEIGHT, viewMatrix=view_matrix, projectionMatrix=proj_matrix, - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) rgb_array = np.array(px) rgb_array = rgb_array[:, :, :3] return rgb_array diff --git a/examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py b/examples/pycram_bullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py rename to examples/pycram_bullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py index ebd67f156c..a9e9d5af22 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py +++ b/examples/pycram_bullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py @@ -9,11 +9,11 @@ from gym.utils import seeding import numpy as np import time -import pybullet -from pybullet_utils import bullet_client as bc +import pycram_bullet +from pycram_bullet_utils import bullet_client as bc from . import racecar import random -import pybullet_data +import pycram_bullet_data from pkg_resources import parse_version RENDER_HEIGHT = 720 @@ -24,7 +24,7 @@ class RacecarZEDGymEnv(gym.Env): metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50} def __init__(self, - urdfRoot=pybullet_data.getDataPath(), + urdfRoot=pycram_bullet_data.getDataPath(), actionRepeat=10, isEnableSelfCollision=True, isDiscrete=False, @@ -42,7 +42,7 @@ def __init__(self, self._isDiscrete = isDiscrete if self._renders: - self._p = bc.BulletClient(connection_mode=pybullet.GUI) + self._p = bc.BulletClient(connection_mode=pycram_bullet.GUI) else: self._p = bc.BulletClient() @@ -185,7 +185,7 @@ def render(self, mode='human', close=False): height=RENDER_HEIGHT, viewMatrix=view_matrix, projectionMatrix=proj_matrix, - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) rgb_array = np.array(px) rgb_array = rgb_array[:, :, :3] return rgb_array diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py similarity index 68% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py index 196e251b29..03419aa90e 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py @@ -7,11 +7,11 @@ os.sys.path.insert(0, parentdir) print("parentdir=", parentdir) -from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMimicEnv -from pybullet_envs.deep_mimic.learning.rl_world import RLWorld -from pybullet_utils.logger import Logger -from pybullet_envs.deep_mimic.testrl import update_world, update_timestep, build_world -import pybullet_utils.mpi_util as MPIUtil +from pycram_bullet_envs.deep_mimic.env.pycram_bullet_deep_mimic_env import PyBulletDeepMimicEnv +from pycram_bullet_envs.deep_mimic.learning.rl_world import RLWorld +from pycram_bullet_utils.logger import Logger +from pycram_bullet_envs.deep_mimic.testrl import update_world, update_timestep, build_world +import pycram_bullet_utils.mpi_util as MPIUtil args = [] world = None diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer_multiclip.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer_multiclip.py similarity index 66% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer_multiclip.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer_multiclip.py index 5109d4311d..2ca806fee3 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer_multiclip.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer_multiclip.py @@ -7,11 +7,11 @@ os.sys.path.insert(0, parentdir) print("parentdir=", parentdir) -from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env_multiclip import PyBulletDeepMimicEnvMultiClip -from pybullet_envs.deep_mimic.learning.rl_world import RLWorld -from pybullet_utils.logger import Logger -from pybullet_envs.deep_mimic.testrl_multiclip import update_world, update_timestep, build_world -import pybullet_utils.mpi_util as MPIUtil +from pycram_bullet_envs.deep_mimic.env.pycram_bullet_deep_mimic_env_multiclip import PyBulletDeepMimicEnvMultiClip +from pycram_bullet_envs.deep_mimic.learning.rl_world import RLWorld +from pycram_bullet_utils.logger import Logger +from pycram_bullet_envs.deep_mimic.testrl_multiclip import update_world, update_timestep, build_world +import pycram_bullet_utils.mpi_util as MPIUtil args = [] world = None diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/action_space.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/action_space.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/action_space.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/action_space.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/env.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/env.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/env.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_pose_interpolator.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/humanoid_pose_interpolator.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_pose_interpolator.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/humanoid_pose_interpolator.py index 15839ccf15..fae322ac6d 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_pose_interpolator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/humanoid_pose_interpolator.py @@ -1,4 +1,4 @@ -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client import math @@ -250,7 +250,7 @@ def Slerp(self, frameFraction, frameData, frameDataNext, bullet_client): pose = self.GetPose() return pose - def ConvertFromAction(self, pybullet_client, action): + def ConvertFromAction(self, pycram_bullet_client, action): #turn action into pose self.Reset() #?? needed? @@ -258,18 +258,18 @@ def ConvertFromAction(self, pybullet_client, action): angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - self._chestRot = pybullet_client.getQuaternionFromAxisAngle(axis, angle) + self._chestRot = pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) #print("pose._chestRot=",pose._chestRot) angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - self._neckRot = pybullet_client.getQuaternionFromAxisAngle(axis, angle) + self._neckRot = pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - self._rightHipRot = pybullet_client.getQuaternionFromAxisAngle(axis, angle) + self._rightHipRot = pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] index += 1 @@ -278,12 +278,12 @@ def ConvertFromAction(self, pybullet_client, action): angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - self._rightAnkleRot = pybullet_client.getQuaternionFromAxisAngle(axis, angle) + self._rightAnkleRot = pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - self._rightShoulderRot = pybullet_client.getQuaternionFromAxisAngle(axis, angle) + self._rightShoulderRot = pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] index += 1 @@ -292,7 +292,7 @@ def ConvertFromAction(self, pybullet_client, action): angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - self._leftHipRot = pybullet_client.getQuaternionFromAxisAngle(axis, angle) + self._leftHipRot = pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] index += 1 @@ -301,12 +301,12 @@ def ConvertFromAction(self, pybullet_client, action): angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - self._leftAnkleRot = pybullet_client.getQuaternionFromAxisAngle(axis, angle) + self._leftAnkleRot = pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - self._leftShoulderRot = pybullet_client.getQuaternionFromAxisAngle(axis, angle) + self._leftShoulderRot = pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] index += 1 diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py similarity index 74% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py index fcbf2154bc..8ff91f61f3 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py @@ -1,5 +1,5 @@ -from pybullet_utils import pd_controller_stable -from pybullet_envs.deep_mimic.env import humanoid_pose_interpolator +from pycram_bullet_utils import pd_controller_stable +from pycram_bullet_envs.deep_mimic.env import humanoid_pose_interpolator import math import numpy as np @@ -20,63 +20,63 @@ class HumanoidStablePD(object): - def __init__( self, pybullet_client, mocap_data, timeStep, + def __init__( self, pycram_bullet_client, mocap_data, timeStep, useFixedBase=True, arg_parser=None, useComReward=False): - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._mocap_data = mocap_data self._arg_parser = arg_parser print("LOADING humanoid!") - flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER+self._pybullet_client.URDF_USE_SELF_COLLISION+self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS - self._sim_model = self._pybullet_client.loadURDF( + flags=self._pycram_bullet_client.URDF_MAINTAIN_LINK_ORDER+self._pycram_bullet_client.URDF_USE_SELF_COLLISION+self._pycram_bullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS + self._sim_model = self._pycram_bullet_client.loadURDF( "humanoid/humanoid.urdf", [0, 0.889540259, 0], globalScaling=0.25, useFixedBase=useFixedBase, flags=flags) - #self._pybullet_client.setCollisionFilterGroupMask(self._sim_model,-1,collisionFilterGroup=0,collisionFilterMask=0) - #for j in range (self._pybullet_client.getNumJoints(self._sim_model)): - # self._pybullet_client.setCollisionFilterGroupMask(self._sim_model,j,collisionFilterGroup=0,collisionFilterMask=0) + #self._pycram_bullet_client.setCollisionFilterGroupMask(self._sim_model,-1,collisionFilterGroup=0,collisionFilterMask=0) + #for j in range (self._pycram_bullet_client.getNumJoints(self._sim_model)): + # self._pycram_bullet_client.setCollisionFilterGroupMask(self._sim_model,j,collisionFilterGroup=0,collisionFilterMask=0) self._end_effectors = [5, 8, 11, 14] #ankle and wrist, both left and right - self._kin_model = self._pybullet_client.loadURDF( + self._kin_model = self._pycram_bullet_client.loadURDF( "humanoid/humanoid.urdf", [0, 0.85, 0], globalScaling=0.25, useFixedBase=True, - flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER) + flags=self._pycram_bullet_client.URDF_MAINTAIN_LINK_ORDER) - self._pybullet_client.changeDynamics(self._sim_model, -1, lateralFriction=0.9) - for j in range(self._pybullet_client.getNumJoints(self._sim_model)): - self._pybullet_client.changeDynamics(self._sim_model, j, lateralFriction=0.9) + self._pycram_bullet_client.changeDynamics(self._sim_model, -1, lateralFriction=0.9) + for j in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): + self._pycram_bullet_client.changeDynamics(self._sim_model, j, lateralFriction=0.9) - self._pybullet_client.changeDynamics(self._sim_model, -1, linearDamping=0, angularDamping=0) - self._pybullet_client.changeDynamics(self._kin_model, -1, linearDamping=0, angularDamping=0) + self._pycram_bullet_client.changeDynamics(self._sim_model, -1, linearDamping=0, angularDamping=0) + self._pycram_bullet_client.changeDynamics(self._kin_model, -1, linearDamping=0, angularDamping=0) #todo: add feature to disable simulation for a particular object. Until then, disable all collisions - self._pybullet_client.setCollisionFilterGroupMask(self._kin_model, + self._pycram_bullet_client.setCollisionFilterGroupMask(self._kin_model, -1, collisionFilterGroup=0, collisionFilterMask=0) - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self._kin_model, -1, - activationState=self._pybullet_client.ACTIVATION_STATE_SLEEP + - self._pybullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + - self._pybullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) + activationState=self._pycram_bullet_client.ACTIVATION_STATE_SLEEP + + self._pycram_bullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + + self._pycram_bullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) alpha = 0.4 - self._pybullet_client.changeVisualShape(self._kin_model, -1, rgbaColor=[1, 1, 1, alpha]) - for j in range(self._pybullet_client.getNumJoints(self._kin_model)): - self._pybullet_client.setCollisionFilterGroupMask(self._kin_model, + self._pycram_bullet_client.changeVisualShape(self._kin_model, -1, rgbaColor=[1, 1, 1, alpha]) + for j in range(self._pycram_bullet_client.getNumJoints(self._kin_model)): + self._pycram_bullet_client.setCollisionFilterGroupMask(self._kin_model, j, collisionFilterGroup=0, collisionFilterMask=0) - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self._kin_model, j, - activationState=self._pybullet_client.ACTIVATION_STATE_SLEEP + - self._pybullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + - self._pybullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) - self._pybullet_client.changeVisualShape(self._kin_model, j, rgbaColor=[1, 1, 1, alpha]) + activationState=self._pycram_bullet_client.ACTIVATION_STATE_SLEEP + + self._pycram_bullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + + self._pycram_bullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) + self._pycram_bullet_client.changeVisualShape(self._kin_model, j, rgbaColor=[1, 1, 1, alpha]) self._poseInterpolator = humanoid_pose_interpolator.HumanoidPoseInterpolator() @@ -84,7 +84,7 @@ def __init__( self, pybullet_client, mocap_data, timeStep, frameData = self._mocap_data._motion_data['Frames'][i] self._poseInterpolator.PostProcessMotionData(frameData) - self._stablePD = pd_controller_stable.PDControllerStableMultiDof(self._pybullet_client) + self._stablePD = pd_controller_stable.PDControllerStableMultiDof(self._pycram_bullet_client) self._timeStep = timeStep self._kpOrg = [ 0, 0, 0, 0, 0, 0, 0, 1000, 1000, 1000, 1000, 100, 100, 100, 100, 500, 500, 500, 500, 500, @@ -101,34 +101,34 @@ def __init__( self, pybullet_client, mocap_data, timeStep, leftAnkle, leftShoulder, leftElbow ] for j in self._jointIndicesAll: - #self._pybullet_client.setJointMotorControlMultiDof(self._sim_model, j, self._pybullet_client.POSITION_CONTROL, force=[1,1,1]) - self._pybullet_client.setJointMotorControl2(self._sim_model, + #self._pycram_bullet_client.setJointMotorControlMultiDof(self._sim_model, j, self._pycram_bullet_client.POSITION_CONTROL, force=[1,1,1]) + self._pycram_bullet_client.setJointMotorControl2(self._sim_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=0, positionGain=0, targetVelocity=0, force=jointFrictionForce) - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=[0, 0, 0, 1], targetVelocity=[0, 0, 0], positionGain=0, velocityGain=1, force=[jointFrictionForce, jointFrictionForce, jointFrictionForce]) - self._pybullet_client.setJointMotorControl2(self._kin_model, + self._pycram_bullet_client.setJointMotorControl2(self._kin_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=0, positionGain=0, targetVelocity=0, force=0) - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._kin_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=[0, 0, 0, 1], targetVelocity=[0, 0, 0], positionGain=0, @@ -164,9 +164,9 @@ def initializePose(self, pose, phys_model, initBase, initializeVelocity=True): useArray = True if initializeVelocity: if initBase: - self._pybullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, + self._pycram_bullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, pose._baseOrn) - self._pybullet_client.resetBaseVelocity(phys_model, pose._baseLinVel, pose._baseAngVel) + self._pycram_bullet_client.resetBaseVelocity(phys_model, pose._baseLinVel, pose._baseAngVel) if useArray: indices = [chest,neck,rightHip,rightKnee, rightAnkle, rightShoulder, rightElbow,leftHip, @@ -178,36 +178,36 @@ def initializePose(self, pose, phys_model, initBase, initializeVelocity=True): jointVelocities = [pose._chestVel, pose._neckVel, pose._rightHipVel, pose._rightKneeVel, pose._rightAnkleVel, pose._rightShoulderVel, pose._rightElbowVel, pose._leftHipVel, pose._leftKneeVel, pose._leftAnkleVel, pose._leftShoulderVel, pose._leftElbowVel] - self._pybullet_client.resetJointStatesMultiDof(phys_model, indices, + self._pycram_bullet_client.resetJointStatesMultiDof(phys_model, indices, jointPositions, jointVelocities) else: - self._pybullet_client.resetJointStateMultiDof(phys_model, chest, pose._chestRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, chest, pose._chestRot, pose._chestVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, neck, pose._neckRot, pose._neckVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightHip, pose._rightHipRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, neck, pose._neckRot, pose._neckVel) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightHip, pose._rightHipRot, pose._rightHipVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightKnee, pose._rightKneeRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightKnee, pose._rightKneeRot, pose._rightKneeVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightAnkle, pose._rightAnkleRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightAnkle, pose._rightAnkleRot, pose._rightAnkleVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightShoulder, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightShoulder, pose._rightShoulderRot, pose._rightShoulderVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightElbow, pose._rightElbowRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightElbow, pose._rightElbowRot, pose._rightElbowVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftHip, pose._leftHipRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftHip, pose._leftHipRot, pose._leftHipVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftKnee, pose._leftKneeRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftKnee, pose._leftKneeRot, pose._leftKneeVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftAnkle, pose._leftAnkleRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftAnkle, pose._leftAnkleRot, pose._leftAnkleVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftShoulder, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftShoulder, pose._leftShoulderRot, pose._leftShoulderVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftElbow, pose._leftElbowRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftElbow, pose._leftElbowRot, pose._leftElbowVel) else: if initBase: - self._pybullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, + self._pycram_bullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, pose._baseOrn) if useArray: indices = [chest,neck,rightHip,rightKnee, @@ -216,28 +216,28 @@ def initializePose(self, pose, phys_model, initBase, initializeVelocity=True): jointPositions = [pose._chestRot, pose._neckRot, pose._rightHipRot, pose._rightKneeRot, pose._rightAnkleRot, pose._rightShoulderRot, pose._rightElbowRot, pose._leftHipRot, pose._leftKneeRot, pose._leftAnkleRot, pose._leftShoulderRot, pose._leftElbowRot] - self._pybullet_client.resetJointStatesMultiDof(phys_model, indices,jointPositions) + self._pycram_bullet_client.resetJointStatesMultiDof(phys_model, indices,jointPositions) else: - self._pybullet_client.resetJointStateMultiDof(phys_model, chest, pose._chestRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, neck, pose._neckRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightHip, pose._rightHipRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, chest, pose._chestRot, [0, 0, 0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, neck, pose._neckRot, [0, 0, 0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightHip, pose._rightHipRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightKnee, pose._rightKneeRot, [0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightAnkle, pose._rightAnkleRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightKnee, pose._rightKneeRot, [0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightAnkle, pose._rightAnkleRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightShoulder, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightShoulder, pose._rightShoulderRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightElbow, pose._rightElbowRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightElbow, pose._rightElbowRot, [0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftHip, pose._leftHipRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftHip, pose._leftHipRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftKnee, pose._leftKneeRot, [0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftAnkle, pose._leftAnkleRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftKnee, pose._leftKneeRot, [0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftAnkle, pose._leftAnkleRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftShoulder, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftShoulder, pose._leftShoulderRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftElbow, pose._leftElbowRot, [0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftElbow, pose._leftElbowRot, [0]) def calcCycleCount(self, simTime, cycleTime): phases = simTime / cycleTime @@ -292,7 +292,7 @@ def computePose(self, frameFraction): frameData = self._mocap_data._motion_data['Frames'][self._frame] frameDataNext = self._mocap_data._motion_data['Frames'][self._frameNext] - self._poseInterpolator.Slerp(frameFraction, frameData, frameDataNext, self._pybullet_client) + self._poseInterpolator.Slerp(frameFraction, frameData, frameDataNext, self._pycram_bullet_client) #print("self._poseInterpolator.Slerp(", frameFraction,")=", pose) self.computeCycleOffset() oldPos = self._poseInterpolator._basePos @@ -306,7 +306,7 @@ def computePose(self, frameFraction): return pose def convertActionToPose(self, action): - pose = self._poseInterpolator.ConvertFromAction(self._pybullet_client, action) + pose = self._poseInterpolator.ConvertFromAction(self._pycram_bullet_client, action) return pose def computeAndApplyPDForces(self, desiredPositions, maxForces): @@ -349,9 +349,9 @@ def computeAndApplyPDForces(self, desiredPositions, maxForces): #static char* kwlist[] = { "bodyUniqueId", #"jointIndices", #"controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "maxVelocities", "physicsClientId", NULL }; - self._pybullet_client.setJointMotorControlMultiDofArray(self._sim_model, + self._pycram_bullet_client.setJointMotorControlMultiDofArray(self._sim_model, indices, - self._pybullet_client.STABLE_PD_CONTROL, + self._pycram_bullet_client.STABLE_PD_CONTROL, targetPositions = targetPositions, targetVelocities = targetVelocities, forces=forces, @@ -396,9 +396,9 @@ def applyPDForces(self, taus): #print("force[", jointIndex,"]=",force) forces.append(force) dofIndex += self._jointDofCounts[index] - self._pybullet_client.setJointMotorControlMultiDofArray(self._sim_model, + self._pycram_bullet_client.setJointMotorControlMultiDofArray(self._sim_model, indices, - self._pybullet_client.TORQUE_CONTROL, + self._pycram_bullet_client.TORQUE_CONTROL, forces=forces) else: for index in range(len(self._jointIndicesAll)): @@ -409,22 +409,22 @@ def applyPDForces(self, taus): scaling * taus[dofIndex + 2] ] #print("force[", jointIndex,"]=",force) - self._pybullet_client.setJointMotorControlMultiDof(self._sim_model, + self._pycram_bullet_client.setJointMotorControlMultiDof(self._sim_model, jointIndex, - self._pybullet_client.TORQUE_CONTROL, + self._pycram_bullet_client.TORQUE_CONTROL, force=force) if self._jointDofCounts[index] == 1: force = [scaling * taus[dofIndex]] #print("force[", jointIndex,"]=",force) - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, jointIndex, - controlMode=self._pybullet_client.TORQUE_CONTROL, + controlMode=self._pycram_bullet_client.TORQUE_CONTROL, force=force) dofIndex += self._jointDofCounts[index] def setJointMotors(self, desiredPositions, maxForces): - controlMode = self._pybullet_client.POSITION_CONTROL + controlMode = self._pycram_bullet_client.POSITION_CONTROL startIndex = 7 chest = 1 neck = 2 @@ -447,7 +447,7 @@ def setJointMotors(self, desiredPositions, maxForces): forceScale * maxForces[startIndex + 2], forceScale * maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, chest, controlMode, @@ -459,7 +459,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, neck, controlMode, @@ -471,7 +471,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, rightHip, controlMode, @@ -480,7 +480,7 @@ def setJointMotors(self, desiredPositions, maxForces): force=maxForce) maxForce = [forceScale * maxForces[startIndex]] startIndex += 1 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, rightKnee, controlMode, @@ -492,7 +492,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, rightAnkle, controlMode, @@ -506,7 +506,7 @@ def setJointMotors(self, desiredPositions, maxForces): startIndex += 4 maxForce = [forceScale * maxForces[startIndex]] startIndex += 1 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, rightElbow, controlMode, @@ -518,7 +518,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftHip, controlMode, @@ -527,7 +527,7 @@ def setJointMotors(self, desiredPositions, maxForces): force=maxForce) maxForce = [forceScale * maxForces[startIndex]] startIndex += 1 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftKnee, controlMode, @@ -539,7 +539,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftAnkle, controlMode, @@ -551,7 +551,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftShoulder, controlMode, @@ -560,7 +560,7 @@ def setJointMotors(self, desiredPositions, maxForces): force=maxForce) maxForce = [forceScale * maxForces[startIndex]] startIndex += 1 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftElbow, controlMode, @@ -580,35 +580,35 @@ def getPhase(self): def buildHeadingTrans(self, rootOrn): #align root transform 'forward' with world-space x axis - eul = self._pybullet_client.getEulerFromQuaternion(rootOrn) + eul = self._pycram_bullet_client.getEulerFromQuaternion(rootOrn) refDir = [1, 0, 0] - rotVec = self._pybullet_client.rotateVector(rootOrn, refDir) + rotVec = self._pycram_bullet_client.rotateVector(rootOrn, refDir) heading = math.atan2(-rotVec[2], rotVec[0]) heading2 = eul[1] #print("heading=",heading) - headingOrn = self._pybullet_client.getQuaternionFromAxisAngle([0, 1, 0], -heading) + headingOrn = self._pycram_bullet_client.getQuaternionFromAxisAngle([0, 1, 0], -heading) return headingOrn def buildOriginTrans(self): - rootPos, rootOrn = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) + rootPos, rootOrn = self._pycram_bullet_client.getBasePositionAndOrientation(self._sim_model) #print("rootPos=",rootPos, " rootOrn=",rootOrn) invRootPos = [-rootPos[0], 0, -rootPos[2]] - #invOrigTransPos, invOrigTransOrn = self._pybullet_client.invertTransform(rootPos,rootOrn) + #invOrigTransPos, invOrigTransOrn = self._pycram_bullet_client.invertTransform(rootPos,rootOrn) headingOrn = self.buildHeadingTrans(rootOrn) #print("headingOrn=",headingOrn) - headingMat = self._pybullet_client.getMatrixFromQuaternion(headingOrn) + headingMat = self._pycram_bullet_client.getMatrixFromQuaternion(headingOrn) #print("headingMat=",headingMat) - #dummy, rootOrnWithoutHeading = self._pybullet_client.multiplyTransforms([0,0,0],headingOrn, [0,0,0], rootOrn) - #dummy, invOrigTransOrn = self._pybullet_client.multiplyTransforms([0,0,0],rootOrnWithoutHeading, invOrigTransPos, invOrigTransOrn) + #dummy, rootOrnWithoutHeading = self._pycram_bullet_client.multiplyTransforms([0,0,0],headingOrn, [0,0,0], rootOrn) + #dummy, invOrigTransOrn = self._pycram_bullet_client.multiplyTransforms([0,0,0],rootOrnWithoutHeading, invOrigTransPos, invOrigTransOrn) - invOrigTransPos, invOrigTransOrn = self._pybullet_client.multiplyTransforms([0, 0, 0], + invOrigTransPos, invOrigTransOrn = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], headingOrn, invRootPos, [0, 0, 0, 1]) #print("invOrigTransPos=",invOrigTransPos) #print("invOrigTransOrn=",invOrigTransOrn) - invOrigTransMat = self._pybullet_client.getMatrixFromQuaternion(invOrigTransOrn) + invOrigTransMat = self._pycram_bullet_client.getMatrixFromQuaternion(invOrigTransOrn) #print("invOrigTransMat =",invOrigTransMat ) return invOrigTransPos, invOrigTransOrn @@ -620,14 +620,14 @@ def getState(self): stateVector.append(phase) rootTransPos, rootTransOrn = self.buildOriginTrans() - basePos, baseOrn = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) + basePos, baseOrn = self._pycram_bullet_client.getBasePositionAndOrientation(self._sim_model) - rootPosRel, dummy = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, + rootPosRel, dummy = self._pycram_bullet_client.multiplyTransforms(rootTransPos, rootTransOrn, basePos, [0, 0, 0, 1]) #print("!!!rootPosRel =",rootPosRel ) #print("rootTransPos=",rootTransPos) #print("basePos=",basePos) - localPos, localOrn = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, + localPos, localOrn = self._pycram_bullet_client.multiplyTransforms(rootTransPos, rootTransOrn, basePos, baseOrn) localPos = [ @@ -641,19 +641,19 @@ def getState(self): self.pb2dmJoints = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14] linkIndicesSim = [] - for pbJoint in range(self._pybullet_client.getNumJoints(self._sim_model)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): linkIndicesSim.append(self.pb2dmJoints[pbJoint]) - linkStatesSim = self._pybullet_client.getLinkStates(self._sim_model, linkIndicesSim, computeForwardKinematics=True, computeLinkVelocity=True) + linkStatesSim = self._pycram_bullet_client.getLinkStates(self._sim_model, linkIndicesSim, computeForwardKinematics=True, computeLinkVelocity=True) - for pbJoint in range(self._pybullet_client.getNumJoints(self._sim_model)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): j = self.pb2dmJoints[pbJoint] #print("joint order:",j) - #ls = self._pybullet_client.getLinkState(self._sim_model, j, computeForwardKinematics=True) + #ls = self._pycram_bullet_client.getLinkState(self._sim_model, j, computeForwardKinematics=True) ls = linkStatesSim[pbJoint] linkPos = ls[0] linkOrn = ls[1] - linkPosLocal, linkOrnLocal = self._pybullet_client.multiplyTransforms( + linkPosLocal, linkOrnLocal = self._pycram_bullet_client.multiplyTransforms( rootTransPos, rootTransOrn, linkPos, linkOrn) if (linkOrnLocal[3] < 0): linkOrnLocal = [-linkOrnLocal[0], -linkOrnLocal[1], -linkOrnLocal[2], -linkOrnLocal[3]] @@ -677,17 +677,17 @@ def getState(self): stateVector.append(linkOrnLocal[2]) - for pbJoint in range(self._pybullet_client.getNumJoints(self._sim_model)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): j = self.pb2dmJoints[pbJoint] - #ls = self._pybullet_client.getLinkState(self._sim_model, j, computeLinkVelocity=True) + #ls = self._pycram_bullet_client.getLinkState(self._sim_model, j, computeLinkVelocity=True) ls = linkStatesSim[pbJoint] linkLinVel = ls[6] linkAngVel = ls[7] - linkLinVelLocal, unused = self._pybullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, + linkLinVelLocal, unused = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, linkLinVel, [0, 0, 0, 1]) #linkLinVelLocal=[linkLinVelLocal[0]-rootPosRel[0],linkLinVelLocal[1]-rootPosRel[1],linkLinVelLocal[2]-rootPosRel[2]] - linkAngVelLocal, unused = self._pybullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, + linkAngVelLocal, unused = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, linkAngVel, [0, 0, 0, 1]) for l in linkLinVelLocal: @@ -703,7 +703,7 @@ def getState(self): def terminates(self): #check if any non-allowed body part hits the ground terminates = False - pts = self._pybullet_client.getContactPoints() + pts = self._pycram_bullet_client.getContactPoints() for p in pts: part = -1 #ignore self-collision @@ -734,7 +734,7 @@ def calcRootAngVelErr(self, vel0, vel1): def calcRootRotDiff(self, orn0, orn1): orn0Conj = [-orn0[0], -orn0[1], -orn0[2], orn0[3]] q_diff = self.quatMul(orn1, orn0Conj) - axis, angle = self._pybullet_client.getAxisAngleFromQuaternion(q_diff) + axis, angle = self._pycram_bullet_client.getAxisAngleFromQuaternion(q_diff) return angle * angle def getReward(self, pose): @@ -779,8 +779,8 @@ def getReward(self, pose): #pose = self.InitializePoseFromMotionData() #print("self._kin_model=",self._kin_model) - #print("kinematicHumanoid #joints=",self._pybullet_client.getNumJoints(self._kin_model)) - #self.ApplyPose(pose, True, True, self._kin_model, self._pybullet_client) + #print("kinematicHumanoid #joints=",self._pycram_bullet_client.getNumJoints(self._kin_model)) + #self.ApplyPose(pose, True, True, self._kin_model, self._pycram_bullet_client) #const Eigen::VectorXd& pose0 = sim_char.GetPose(); #const Eigen::VectorXd& vel0 = sim_char.GetVel(); @@ -817,9 +817,9 @@ def getReward(self, pose): num_joints = 15 root_rot_w = mJointWeights[root_id] - rootPosSim, rootOrnSim = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) - rootPosKin, rootOrnKin = self._pybullet_client.getBasePositionAndOrientation(self._kin_model) - linVelSim, angVelSim = self._pybullet_client.getBaseVelocity(self._sim_model) + rootPosSim, rootOrnSim = self._pycram_bullet_client.getBasePositionAndOrientation(self._sim_model) + rootPosKin, rootOrnKin = self._pycram_bullet_client.getBasePositionAndOrientation(self._kin_model) + linVelSim, angVelSim = self._pycram_bullet_client.getBaseVelocity(self._sim_model) #don't read the velocities from the kinematic model (they are zero), use the pose interpolator velocity #see also issue https://github.com/bulletphysics/bullet3/issues/2401 linVelKin = self._poseInterpolator._baseLinVel @@ -841,11 +841,11 @@ def getReward(self, pose): if useArray: jointIndices = range(num_joints) - simJointStates = self._pybullet_client.getJointStatesMultiDof(self._sim_model, jointIndices) - kinJointStates = self._pybullet_client.getJointStatesMultiDof(self._kin_model, jointIndices) + simJointStates = self._pycram_bullet_client.getJointStatesMultiDof(self._sim_model, jointIndices) + kinJointStates = self._pycram_bullet_client.getJointStatesMultiDof(self._kin_model, jointIndices) if useArray: - linkStatesSim = self._pybullet_client.getLinkStates(self._sim_model, jointIndices) - linkStatesKin = self._pybullet_client.getLinkStates(self._kin_model, jointIndices) + linkStatesSim = self._pycram_bullet_client.getLinkStates(self._sim_model, jointIndices) + linkStatesKin = self._pycram_bullet_client.getLinkStates(self._kin_model, jointIndices) for j in range(num_joints): curr_pose_err = 0 curr_vel_err = 0 @@ -853,14 +853,14 @@ def getReward(self, pose): if useArray: simJointInfo = simJointStates[j] else: - simJointInfo = self._pybullet_client.getJointStateMultiDof(self._sim_model, j) + simJointInfo = self._pycram_bullet_client.getJointStateMultiDof(self._sim_model, j) #print("simJointInfo.pos=",simJointInfo[0]) #print("simJointInfo.vel=",simJointInfo[1]) if useArray: kinJointInfo = kinJointStates[j] else: - kinJointInfo = self._pybullet_client.getJointStateMultiDof(self._kin_model, j) + kinJointInfo = self._pycram_bullet_client.getJointStateMultiDof(self._kin_model, j) #print("kinJointInfo.pos=",kinJointInfo[0]) #print("kinJointInfo.vel=",kinJointInfo[1]) if (len(simJointInfo[0]) == 1): @@ -870,8 +870,8 @@ def getReward(self, pose): curr_vel_err = velDiff * velDiff if (len(simJointInfo[0]) == 4): #print("quaternion diff") - diffQuat = self._pybullet_client.getDifferenceQuaternion(simJointInfo[0], kinJointInfo[0]) - axis, angle = self._pybullet_client.getAxisAngleFromQuaternion(diffQuat) + diffQuat = self._pycram_bullet_client.getDifferenceQuaternion(simJointInfo[0], kinJointInfo[0]) + axis, angle = self._pycram_bullet_client.getAxisAngleFromQuaternion(diffQuat) curr_pose_err = angle * angle diffVel = [ simJointInfo[1][0] - kinJointInfo[1][0], simJointInfo[1][1] - kinJointInfo[1][1], @@ -890,8 +890,8 @@ def getReward(self, pose): linkStateSim = linkStatesSim[j] linkStateKin = linkStatesKin[j] else: - linkStateSim = self._pybullet_client.getLinkState(self._sim_model, j) - linkStateKin = self._pybullet_client.getLinkState(self._kin_model, j) + linkStateSim = self._pycram_bullet_client.getLinkState(self._sim_model, j) + linkStateKin = self._pycram_bullet_client.getLinkState(self._kin_model, j) linkPosSim = linkStateSim[0] linkPosKin = linkStateKin[0] linkPosDiff = [ @@ -968,7 +968,7 @@ def getReward(self, pose): def computeCOMposVel(self, uid: int): """Compute center-of-mass position and velocity.""" - pb = self._pybullet_client + pb = self._pycram_bullet_client num_joints = 15 jointIndices = range(num_joints) link_states = pb.getLinkStates(uid, jointIndices, computeLinkVelocity=1) diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd_multiclip.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd_multiclip.py similarity index 78% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd_multiclip.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd_multiclip.py index 6855ff96fa..dad564b023 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd_multiclip.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd_multiclip.py @@ -1,5 +1,5 @@ -from pybullet_utils import pd_controller_stable -from pybullet_envs.deep_mimic.env import humanoid_pose_interpolator +from pycram_bullet_utils import pd_controller_stable +from pycram_bullet_envs.deep_mimic.env import humanoid_pose_interpolator import math import numpy as np @@ -20,15 +20,15 @@ class HumanoidStablePDMultiClip(object): - def __init__(self, pybullet_client, mocap_data, timeStep, + def __init__(self, pycram_bullet_client, mocap_data, timeStep, useFixedBase=True, arg_parser=None, useComReward=False): - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._mocap_data = mocap_data # this is a dictionary self._arg_parser = arg_parser self._n_clips = self._mocap_data.getNumClips() print("LOADING humanoid!") - flags = self._pybullet_client.URDF_MAINTAIN_LINK_ORDER + self._pybullet_client.URDF_USE_SELF_COLLISION + self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS - self._sim_model = self._pybullet_client.loadURDF( + flags = self._pycram_bullet_client.URDF_MAINTAIN_LINK_ORDER + self._pycram_bullet_client.URDF_USE_SELF_COLLISION + self._pycram_bullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS + self._sim_model = self._pycram_bullet_client.loadURDF( "humanoid/humanoid.urdf", [0, 0.889540259, 0], globalScaling=0.25, useFixedBase=useFixedBase, @@ -40,45 +40,45 @@ def __init__(self, pybullet_client, mocap_data, timeStep, self._poseInterpolators = {} for i in range(self._n_clips): - self._kin_models[i] = self._pybullet_client.loadURDF( + self._kin_models[i] = self._pycram_bullet_client.loadURDF( "humanoid/humanoid.urdf", [0, 0.85, 0], globalScaling=0.25, useFixedBase=True, - flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER) + flags=self._pycram_bullet_client.URDF_MAINTAIN_LINK_ORDER) - self._pybullet_client.changeDynamics(self._sim_model, -1, lateralFriction=0.9) - for j in range(self._pybullet_client.getNumJoints(self._sim_model)): - self._pybullet_client.changeDynamics(self._sim_model, j, lateralFriction=0.9) + self._pycram_bullet_client.changeDynamics(self._sim_model, -1, lateralFriction=0.9) + for j in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): + self._pycram_bullet_client.changeDynamics(self._sim_model, j, lateralFriction=0.9) - self._pybullet_client.changeDynamics(self._sim_model, -1, linearDamping=0, angularDamping=0) + self._pycram_bullet_client.changeDynamics(self._sim_model, -1, linearDamping=0, angularDamping=0) for i in range(self._n_clips): - self._pybullet_client.changeDynamics(self._kin_models[i], -1, linearDamping=0, angularDamping=0) + self._pycram_bullet_client.changeDynamics(self._kin_models[i], -1, linearDamping=0, angularDamping=0) # todo: add feature to disable simulation for a particular object. Until then, disable all collisions - self._pybullet_client.setCollisionFilterGroupMask(self._kin_models[i], + self._pycram_bullet_client.setCollisionFilterGroupMask(self._kin_models[i], -1, collisionFilterGroup=0, collisionFilterMask=0) - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self._kin_models[i], -1, - activationState=self._pybullet_client.ACTIVATION_STATE_SLEEP + - self._pybullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + - self._pybullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) + activationState=self._pycram_bullet_client.ACTIVATION_STATE_SLEEP + + self._pycram_bullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + + self._pycram_bullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) alpha = 0.4 - self._pybullet_client.changeVisualShape(self._kin_models[i], -1, rgbaColor=[1, 1, 1, alpha]) - for j in range(self._pybullet_client.getNumJoints(self._kin_models[i])): - self._pybullet_client.setCollisionFilterGroupMask(self._kin_models[i], + self._pycram_bullet_client.changeVisualShape(self._kin_models[i], -1, rgbaColor=[1, 1, 1, alpha]) + for j in range(self._pycram_bullet_client.getNumJoints(self._kin_models[i])): + self._pycram_bullet_client.setCollisionFilterGroupMask(self._kin_models[i], j, collisionFilterGroup=0, collisionFilterMask=0) - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self._kin_models[i], j, - activationState=self._pybullet_client.ACTIVATION_STATE_SLEEP + - self._pybullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + - self._pybullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) - self._pybullet_client.changeVisualShape(self._kin_models[i], j, rgbaColor=[1, 1, 1, alpha]) + activationState=self._pycram_bullet_client.ACTIVATION_STATE_SLEEP + + self._pycram_bullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + + self._pycram_bullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) + self._pycram_bullet_client.changeVisualShape(self._kin_models[i], j, rgbaColor=[1, 1, 1, alpha]) self._poseInterpolators[i] = humanoid_pose_interpolator.HumanoidPoseInterpolator() @@ -86,7 +86,7 @@ def __init__(self, pybullet_client, mocap_data, timeStep, frameData = self._mocap_data._motion_data[i]['Frames'][j] self._poseInterpolators[i].PostProcessMotionData(frameData) - self._stablePD = pd_controller_stable.PDControllerStableMultiDof(self._pybullet_client) + self._stablePD = pd_controller_stable.PDControllerStableMultiDof(self._pycram_bullet_client) self._timeStep = timeStep self._kpOrg = [ 0, 0, 0, 0, 0, 0, 0, 1000, 1000, 1000, 1000, 100, 100, 100, 100, 500, 500, 500, 500, 500, @@ -103,17 +103,17 @@ def __init__(self, pybullet_client, mocap_data, timeStep, leftAnkle, leftShoulder, leftElbow ] for j in self._jointIndicesAll: - self._pybullet_client.setJointMotorControl2(self._sim_model, + self._pycram_bullet_client.setJointMotorControl2(self._sim_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=0, positionGain=0, targetVelocity=0, force=jointFrictionForce) - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=[0, 0, 0, 1], targetVelocity=[0, 0, 0], positionGain=0, @@ -121,17 +121,17 @@ def __init__(self, pybullet_client, mocap_data, timeStep, force=[jointFrictionForce, jointFrictionForce, jointFrictionForce]) for i in range(self._n_clips): - self._pybullet_client.setJointMotorControl2(self._kin_models[i], + self._pycram_bullet_client.setJointMotorControl2(self._kin_models[i], j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=0, positionGain=0, targetVelocity=0, force=0) - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._kin_models[i], j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=[0, 0, 0, 1], targetVelocity=[0, 0, 0], positionGain=0, @@ -169,9 +169,9 @@ def initializePose(self, pose, phys_model, initBase, initializeVelocity=True): if initializeVelocity: if initBase: - self._pybullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, + self._pycram_bullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, pose._baseOrn) - self._pybullet_client.resetBaseVelocity(phys_model, pose._baseLinVel, pose._baseAngVel) + self._pycram_bullet_client.resetBaseVelocity(phys_model, pose._baseLinVel, pose._baseAngVel) indices = [chest, neck, rightHip, rightKnee, rightAnkle, rightShoulder, rightElbow, leftHip, @@ -183,11 +183,11 @@ def initializePose(self, pose, phys_model, initBase, initializeVelocity=True): jointVelocities = [pose._chestVel, pose._neckVel, pose._rightHipVel, pose._rightKneeVel, pose._rightAnkleVel, pose._rightShoulderVel, pose._rightElbowVel, pose._leftHipVel, pose._leftKneeVel, pose._leftAnkleVel, pose._leftShoulderVel, pose._leftElbowVel] - self._pybullet_client.resetJointStatesMultiDof(phys_model, indices, + self._pycram_bullet_client.resetJointStatesMultiDof(phys_model, indices, jointPositions, jointVelocities) else: if initBase: - self._pybullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, + self._pycram_bullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, pose._baseOrn) indices = [chest, neck, rightHip, rightKnee, @@ -196,7 +196,7 @@ def initializePose(self, pose, phys_model, initBase, initializeVelocity=True): jointPositions = [pose._chestRot, pose._neckRot, pose._rightHipRot, pose._rightKneeRot, pose._rightAnkleRot, pose._rightShoulderRot, pose._rightElbowRot, pose._leftHipRot, pose._leftKneeRot, pose._leftAnkleRot, pose._leftShoulderRot, pose._leftElbowRot] - self._pybullet_client.resetJointStatesMultiDof(phys_model, indices, jointPositions) + self._pycram_bullet_client.resetJointStatesMultiDof(phys_model, indices, jointPositions) def calcCycleCount(self, simTime, cycleTime): phases = simTime / cycleTime @@ -248,7 +248,7 @@ def computePose(self, frameFraction, i=0): frameData = self._mocap_data._motion_data[i]['Frames'][self._frame] frameDataNext = self._mocap_data._motion_data[i]['Frames'][self._frameNext] - self._poseInterpolators[i].Slerp(frameFraction, frameData, frameDataNext, self._pybullet_client) + self._poseInterpolators[i].Slerp(frameFraction, frameData, frameDataNext, self._pycram_bullet_client) # print("self._poseInterpolator.Slerp(", frameFraction,")=", pose) self.computeCycleOffset() oldPos = self._poseInterpolators[i]._basePos @@ -262,7 +262,7 @@ def computePose(self, frameFraction, i=0): return pose def convertActionToPose(self, action, i): - pose = self._poseInterpolators[i].ConvertFromAction(self._pybullet_client, action) + pose = self._poseInterpolators[i].ConvertFromAction(self._pycram_bullet_client, action) return pose def computeAndApplyPDForces(self, desiredPositions, maxForces): @@ -303,9 +303,9 @@ def computeAndApplyPDForces(self, desiredPositions, maxForces): dofIndex += self._jointDofCounts[index] - self._pybullet_client.setJointMotorControlMultiDofArray(self._sim_model, + self._pycram_bullet_client.setJointMotorControlMultiDofArray(self._sim_model, indices, - self._pybullet_client.STABLE_PD_CONTROL, + self._pycram_bullet_client.STABLE_PD_CONTROL, targetPositions=targetPositions, targetVelocities=targetVelocities, forces=forces, @@ -325,35 +325,35 @@ def getPhase(self): def buildHeadingTrans(self, rootOrn): # align root transform 'forward' with world-space x axis - eul = self._pybullet_client.getEulerFromQuaternion(rootOrn) + eul = self._pycram_bullet_client.getEulerFromQuaternion(rootOrn) refDir = [1, 0, 0] - rotVec = self._pybullet_client.rotateVector(rootOrn, refDir) + rotVec = self._pycram_bullet_client.rotateVector(rootOrn, refDir) heading = math.atan2(-rotVec[2], rotVec[0]) heading2 = eul[1] # print("heading=",heading) - headingOrn = self._pybullet_client.getQuaternionFromAxisAngle([0, 1, 0], -heading) + headingOrn = self._pycram_bullet_client.getQuaternionFromAxisAngle([0, 1, 0], -heading) return headingOrn def buildOriginTrans(self): - rootPos, rootOrn = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) + rootPos, rootOrn = self._pycram_bullet_client.getBasePositionAndOrientation(self._sim_model) # print("rootPos=",rootPos, " rootOrn=",rootOrn) invRootPos = [-rootPos[0], 0, -rootPos[2]] - # invOrigTransPos, invOrigTransOrn = self._pybullet_client.invertTransform(rootPos,rootOrn) + # invOrigTransPos, invOrigTransOrn = self._pycram_bullet_client.invertTransform(rootPos,rootOrn) headingOrn = self.buildHeadingTrans(rootOrn) # print("headingOrn=",headingOrn) - headingMat = self._pybullet_client.getMatrixFromQuaternion(headingOrn) + headingMat = self._pycram_bullet_client.getMatrixFromQuaternion(headingOrn) # print("headingMat=",headingMat) - # dummy, rootOrnWithoutHeading = self._pybullet_client.multiplyTransforms([0,0,0],headingOrn, [0,0,0], rootOrn) - # dummy, invOrigTransOrn = self._pybullet_client.multiplyTransforms([0,0,0],rootOrnWithoutHeading, invOrigTransPos, invOrigTransOrn) + # dummy, rootOrnWithoutHeading = self._pycram_bullet_client.multiplyTransforms([0,0,0],headingOrn, [0,0,0], rootOrn) + # dummy, invOrigTransOrn = self._pycram_bullet_client.multiplyTransforms([0,0,0],rootOrnWithoutHeading, invOrigTransPos, invOrigTransOrn) - invOrigTransPos, invOrigTransOrn = self._pybullet_client.multiplyTransforms([0, 0, 0], + invOrigTransPos, invOrigTransOrn = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], headingOrn, invRootPos, [0, 0, 0, 1]) # print("invOrigTransPos=",invOrigTransPos) # print("invOrigTransOrn=",invOrigTransOrn) - invOrigTransMat = self._pybullet_client.getMatrixFromQuaternion(invOrigTransOrn) + invOrigTransMat = self._pycram_bullet_client.getMatrixFromQuaternion(invOrigTransOrn) # print("invOrigTransMat =",invOrigTransMat ) return invOrigTransPos, invOrigTransOrn @@ -365,14 +365,14 @@ def getState(self): stateVector.append(phase) rootTransPos, rootTransOrn = self.buildOriginTrans() - basePos, baseOrn = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) + basePos, baseOrn = self._pycram_bullet_client.getBasePositionAndOrientation(self._sim_model) - rootPosRel, dummy = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, + rootPosRel, dummy = self._pycram_bullet_client.multiplyTransforms(rootTransPos, rootTransOrn, basePos, [0, 0, 0, 1]) # print("!!!rootPosRel =",rootPosRel ) # print("rootTransPos=",rootTransPos) # print("basePos=",basePos) - localPos, localOrn = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, + localPos, localOrn = self._pycram_bullet_client.multiplyTransforms(rootTransPos, rootTransOrn, basePos, baseOrn) localPos = [ @@ -385,19 +385,19 @@ def getState(self): self.pb2dmJoints = range(15) linkIndicesSim = [] - for pbJoint in range(self._pybullet_client.getNumJoints(self._sim_model)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): linkIndicesSim.append(self.pb2dmJoints[pbJoint]) - linkStatesSim = self._pybullet_client.getLinkStates(self._sim_model, linkIndicesSim, + linkStatesSim = self._pycram_bullet_client.getLinkStates(self._sim_model, linkIndicesSim, computeForwardKinematics=True, computeLinkVelocity=True) - for pbJoint in range(self._pybullet_client.getNumJoints(self._sim_model)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): j = self.pb2dmJoints[pbJoint] # print("joint order:",j) ls = linkStatesSim[pbJoint] linkPos = ls[0] linkOrn = ls[1] - linkPosLocal, linkOrnLocal = self._pybullet_client.multiplyTransforms( + linkPosLocal, linkOrnLocal = self._pycram_bullet_client.multiplyTransforms( rootTransPos, rootTransOrn, linkPos, linkOrn) if (linkOrnLocal[3] < 0): linkOrnLocal = [-linkOrnLocal[0], -linkOrnLocal[1], -linkOrnLocal[2], -linkOrnLocal[3]] @@ -420,16 +420,16 @@ def getState(self): stateVector.append(linkOrnLocal[1]) stateVector.append(linkOrnLocal[2]) - for pbJoint in range(self._pybullet_client.getNumJoints(self._sim_model)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): j = self.pb2dmJoints[pbJoint] ls = linkStatesSim[pbJoint] linkLinVel = ls[6] linkAngVel = ls[7] - linkLinVelLocal, unused = self._pybullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, + linkLinVelLocal, unused = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, linkLinVel, [0, 0, 0, 1]) - linkAngVelLocal, unused = self._pybullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, + linkAngVelLocal, unused = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, linkAngVel, [0, 0, 0, 1]) for l in linkLinVelLocal: @@ -445,7 +445,7 @@ def getState(self): def terminates(self): # check if any non-allowed body part hits the ground terminates = False - pts = self._pybullet_client.getContactPoints() + pts = self._pycram_bullet_client.getContactPoints() for p in pts: part = -1 # ignore self-collision @@ -476,7 +476,7 @@ def calcRootAngVelErr(self, vel0, vel1): def calcRootRotDiff(self, orn0, orn1): orn0Conj = [-orn0[0], -orn0[1], -orn0[2], orn0[3]] q_diff = self.quatMul(orn1, orn0Conj) - axis, angle = self._pybullet_client.getAxisAngleFromQuaternion(q_diff) + axis, angle = self._pycram_bullet_client.getAxisAngleFromQuaternion(q_diff) return angle * angle def getReward(self, pose, i=0): @@ -534,9 +534,9 @@ def getReward(self, pose, i=0): num_joints = 15 root_rot_w = mJointWeights[root_id] - rootPosSim, rootOrnSim = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) - rootPosKin, rootOrnKin = self._pybullet_client.getBasePositionAndOrientation(self._kin_models[i]) - linVelSim, angVelSim = self._pybullet_client.getBaseVelocity(self._sim_model) + rootPosSim, rootOrnSim = self._pycram_bullet_client.getBasePositionAndOrientation(self._sim_model) + rootPosKin, rootOrnKin = self._pycram_bullet_client.getBasePositionAndOrientation(self._kin_models[i]) + linVelSim, angVelSim = self._pycram_bullet_client.getBaseVelocity(self._sim_model) # don't read the velocities from the kinematic model (they are zero), use the pose interpolator velocity # see also issue https://github.com/bulletphysics/bullet3/issues/2401 linVelKin = self._poseInterpolators[i]._baseLinVel @@ -555,10 +555,10 @@ def getReward(self, pose, i=0): vel_err += root_rot_w * root_ang_vel_err jointIndices = range(num_joints) - simJointStates = self._pybullet_client.getJointStatesMultiDof(self._sim_model, jointIndices) - kinJointStates = self._pybullet_client.getJointStatesMultiDof(self._kin_models[i], jointIndices) - linkStatesSim = self._pybullet_client.getLinkStates(self._sim_model, jointIndices) - linkStatesKin = self._pybullet_client.getLinkStates(self._kin_models[i], jointIndices) + simJointStates = self._pycram_bullet_client.getJointStatesMultiDof(self._sim_model, jointIndices) + kinJointStates = self._pycram_bullet_client.getJointStatesMultiDof(self._kin_models[i], jointIndices) + linkStatesSim = self._pycram_bullet_client.getLinkStates(self._sim_model, jointIndices) + linkStatesKin = self._pycram_bullet_client.getLinkStates(self._kin_models[i], jointIndices) for j in range(num_joints): curr_pose_err = 0 @@ -581,8 +581,8 @@ def getReward(self, pose, i=0): curr_vel_err = velDiff * velDiff if (len(simJointInfo[0]) == 4): # print("quaternion diff") - diffQuat = self._pybullet_client.getDifferenceQuaternion(simJointInfo[0], kinJointInfo[0]) - axis, angle = self._pybullet_client.getAxisAngleFromQuaternion(diffQuat) + diffQuat = self._pycram_bullet_client.getDifferenceQuaternion(simJointInfo[0], kinJointInfo[0]) + axis, angle = self._pycram_bullet_client.getAxisAngleFromQuaternion(diffQuat) curr_pose_err = angle * angle diffVel = [ simJointInfo[1][0] - kinJointInfo[1][0], simJointInfo[1][1] - kinJointInfo[1][1], @@ -650,7 +650,7 @@ def getReward(self, pose, i=0): def computeCOMposVel(self, uid: int): """Compute center-of-mass position and velocity.""" - pb = self._pybullet_client + pb = self._pycram_bullet_client num_joints = 15 jointIndices = range(num_joints) link_states = pb.getLinkStates(uid, jointIndices, computeLinkVelocity=1) diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/motion_capture_data.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/motion_capture_data.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/motion_capture_data.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/motion_capture_data.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/motion_capture_data_multiclip.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/motion_capture_data_multiclip.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/motion_capture_data_multiclip.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/motion_capture_data_multiclip.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py similarity index 81% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py index 6cdbb7e0c9..c1f27a6092 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py @@ -1,13 +1,13 @@ import numpy as np import math -from pybullet_envs.deep_mimic.env.env import Env -from pybullet_envs.deep_mimic.env.action_space import ActionSpace -from pybullet_utils import bullet_client +from pycram_bullet_envs.deep_mimic.env.env import Env +from pycram_bullet_envs.deep_mimic.env.action_space import ActionSpace +from pycram_bullet_utils import bullet_client import time -from pybullet_envs.deep_mimic.env import motion_capture_data -from pybullet_envs.deep_mimic.env import humanoid_stable_pd -import pybullet_data -import pybullet as p1 +from pycram_bullet_envs.deep_mimic.env import motion_capture_data +from pycram_bullet_envs.deep_mimic.env import humanoid_stable_pd +import pycram_bullet_data +import pycram_bullet as p1 import random from enum import Enum @@ -20,12 +20,12 @@ class InitializationStrategy(Enum): class PyBulletDeepMimicEnv(Env): - def __init__(self, arg_parser=None, enable_draw=False, pybullet_client=None, + def __init__(self, arg_parser=None, enable_draw=False, pycram_bullet_client=None, time_step=1./240, init_strategy=InitializationStrategy.RANDOM): super().__init__(arg_parser, enable_draw) self._num_agents = 1 - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._isInitialized = False self._useStablePD = True self._arg_parser = arg_parser @@ -38,45 +38,45 @@ def reset(self): if not self._isInitialized: if self.enable_draw: - self._pybullet_client = bullet_client.BulletClient(connection_mode=p1.GUI) + self._pycram_bullet_client = bullet_client.BulletClient(connection_mode=p1.GUI) #disable 'GUI' since it slows down a lot on Mac OSX and some other platforms - self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_GUI, 0) + self._pycram_bullet_client.configureDebugVisualizer(self._pycram_bullet_client.COV_ENABLE_GUI, 0) else: - self._pybullet_client = bullet_client.BulletClient() + self._pycram_bullet_client = bullet_client.BulletClient() - self._pybullet_client.setAdditionalSearchPath(pybullet_data.getDataPath()) - z2y = self._pybullet_client.getQuaternionFromEuler([-math.pi * 0.5, 0, 0]) - self._planeId = self._pybullet_client.loadURDF("plane_implicit.urdf", [0, 0, 0], + self._pycram_bullet_client.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) + z2y = self._pycram_bullet_client.getQuaternionFromEuler([-math.pi * 0.5, 0, 0]) + self._planeId = self._pycram_bullet_client.loadURDF("plane_implicit.urdf", [0, 0, 0], z2y, useMaximalCoordinates=True) #print("planeId=",self._planeId) - self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_Y_AXIS_UP, 1) - self._pybullet_client.setGravity(0, -9.8, 0) + self._pycram_bullet_client.configureDebugVisualizer(self._pycram_bullet_client.COV_ENABLE_Y_AXIS_UP, 1) + self._pycram_bullet_client.setGravity(0, -9.8, 0) - self._pybullet_client.setPhysicsEngineParameter(numSolverIterations=10) - self._pybullet_client.changeDynamics(self._planeId, linkIndex=-1, lateralFriction=0.9) + self._pycram_bullet_client.setPhysicsEngineParameter(numSolverIterations=10) + self._pycram_bullet_client.changeDynamics(self._planeId, linkIndex=-1, lateralFriction=0.9) self._mocapData = motion_capture_data.MotionCaptureData() motion_file = self._arg_parser.parse_strings('motion_file') print("motion_file=", motion_file[0]) - motionPath = pybullet_data.getDataPath() + "/" + motion_file[0] - #motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt" + motionPath = pycram_bullet_data.getDataPath() + "/" + motion_file[0] + #motionPath = pycram_bullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt" self._mocapData.Load(motionPath) timeStep = self.timeStep useFixedBase = False - self._humanoid = humanoid_stable_pd.HumanoidStablePD(self._pybullet_client, self._mocapData, + self._humanoid = humanoid_stable_pd.HumanoidStablePD(self._pycram_bullet_client, self._mocapData, timeStep, useFixedBase, self._arg_parser) self._isInitialized = True - self._pybullet_client.setTimeStep(timeStep) - self._pybullet_client.setPhysicsEngineParameter(numSubSteps=1) + self._pycram_bullet_client.setTimeStep(timeStep) + self._pycram_bullet_client.setPhysicsEngineParameter(numSubSteps=1) selfCheck = False if (selfCheck): curTime = 0 - while self._pybullet_client.isConnected(): + while self._pycram_bullet_client.isConnected(): self._humanoid.setSimTime(curTime) state = self._humanoid.getState() #print("state=",state) @@ -85,7 +85,7 @@ def reset(self): curTime += timeStep #taus = self._humanoid.computePDForces(pose) #self._humanoid.applyPDForces(taus) - #self._pybullet_client.stepSimulation() + #self._pycram_bullet_client.stepSimulation() time.sleep(timeStep) #print("numframes = ", self._humanoid._mocap_data.NumFrames()) #startTime = random.randint(0,self._humanoid._mocap_data.NumFrames()-2) @@ -103,7 +103,7 @@ def reset(self): self._humanoid.resetPose() #this clears the contact points. Todo: add API to explicitly clear all contact points? - #self._pybullet_client.stepSimulation() + #self._pycram_bullet_client.stepSimulation() self._humanoid.resetPose() self.needs_update_time = self.t - 1 #force update @@ -277,8 +277,8 @@ def log_val(self, agent_id, val): pass def update(self, timeStep): - #print("pybullet_deep_mimic_env:update timeStep=",timeStep," t=",self.t) - self._pybullet_client.setTimeStep(timeStep) + #print("pycram_bullet_deep_mimic_env:update timeStep=",timeStep," t=",self.t) + self._pycram_bullet_client.setTimeStep(timeStep) self._humanoid._timeStep = timeStep self.timeStep = timeStep @@ -291,8 +291,8 @@ def update(self, timeStep): self._humanoid.initializePose(self._humanoid._poseInterpolator, self._humanoid._kin_model, initBase=True) - #pos,orn=self._pybullet_client.getBasePositionAndOrientation(self._humanoid._sim_model) - #self._pybullet_client.resetBasePositionAndOrientation(self._humanoid._kin_model, [pos[0]+3,pos[1],pos[2]],orn) + #pos,orn=self._pycram_bullet_client.getBasePositionAndOrientation(self._humanoid._sim_model) + #self._pycram_bullet_client.resetBasePositionAndOrientation(self._humanoid._kin_model, [pos[0]+3,pos[1],pos[2]],orn) #print("desiredPositions=",self.desiredPose) maxForces = [ 0, 0, 0, 0, 0, 0, 0, 200, 200, 200, 200, 50, 50, 50, 50, 200, 200, 200, 200, 150, 90, @@ -314,7 +314,7 @@ def update(self, timeStep): else: self._humanoid.setJointMotors(self.desiredPose, maxForces=maxForces) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() def set_sample_count(self, count): return @@ -335,11 +335,11 @@ def check_valid_episode(self): return True def getKeyboardEvents(self): - return self._pybullet_client.getKeyboardEvents() + return self._pycram_bullet_client.getKeyboardEvents() def isKeyTriggered(self, keys, key): o = ord(key) #print("ord=",o) if o in keys: - return keys[ord(key)] & self._pybullet_client.KEY_WAS_TRIGGERED + return keys[ord(key)] & self._pycram_bullet_client.KEY_WAS_TRIGGERED return False diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env_multiclip.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env_multiclip.py similarity index 83% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env_multiclip.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env_multiclip.py index 7557c394a0..b96e3f2ce4 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env_multiclip.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env_multiclip.py @@ -1,13 +1,13 @@ import numpy as np import math -from pybullet_envs.deep_mimic.env.env import Env -from pybullet_envs.deep_mimic.env.action_space import ActionSpace -from pybullet_utils import bullet_client +from pycram_bullet_envs.deep_mimic.env.env import Env +from pycram_bullet_envs.deep_mimic.env.action_space import ActionSpace +from pycram_bullet_utils import bullet_client import time -from pybullet_envs.deep_mimic.env import motion_capture_data_multiclip -from pybullet_envs.deep_mimic.env import humanoid_stable_pd_multiclip -import pybullet_data -import pybullet as p1 +from pycram_bullet_envs.deep_mimic.env import motion_capture_data_multiclip +from pycram_bullet_envs.deep_mimic.env import humanoid_stable_pd_multiclip +import pycram_bullet_data +import pycram_bullet as p1 import random from enum import Enum @@ -21,12 +21,12 @@ class InitializationStrategy(Enum): class PyBulletDeepMimicEnvMultiClip(Env): - def __init__(self, arg_parser=None, enable_draw=False, pybullet_client=None, + def __init__(self, arg_parser=None, enable_draw=False, pycram_bullet_client=None, time_step=1. / 240, init_strategy=InitializationStrategy.RANDOM): super().__init__(arg_parser, enable_draw) self._num_agents = 1 - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._isInitialized = False #self._useStablePD = True self._arg_parser = arg_parser @@ -40,41 +40,41 @@ def reset(self): if not self._isInitialized: if self.enable_draw: - self._pybullet_client = bullet_client.BulletClient(connection_mode=p1.GUI) + self._pycram_bullet_client = bullet_client.BulletClient(connection_mode=p1.GUI) # disable 'GUI' since it slows down a lot on Mac OSX and some other platforms - self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_GUI, 0) + self._pycram_bullet_client.configureDebugVisualizer(self._pycram_bullet_client.COV_ENABLE_GUI, 0) else: - self._pybullet_client = bullet_client.BulletClient() + self._pycram_bullet_client = bullet_client.BulletClient() - self._pybullet_client.setAdditionalSearchPath(pybullet_data.getDataPath()) - z2y = self._pybullet_client.getQuaternionFromEuler([-math.pi * 0.5, 0, 0]) - self._planeId = self._pybullet_client.loadURDF("plane_implicit.urdf", [0, 0, 0], + self._pycram_bullet_client.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) + z2y = self._pycram_bullet_client.getQuaternionFromEuler([-math.pi * 0.5, 0, 0]) + self._planeId = self._pycram_bullet_client.loadURDF("plane_implicit.urdf", [0, 0, 0], z2y, useMaximalCoordinates=True) # print("planeId=",self._planeId) - self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_Y_AXIS_UP, 1) - self._pybullet_client.setGravity(0, -9.8, 0) + self._pycram_bullet_client.configureDebugVisualizer(self._pycram_bullet_client.COV_ENABLE_Y_AXIS_UP, 1) + self._pycram_bullet_client.setGravity(0, -9.8, 0) - self._pybullet_client.setPhysicsEngineParameter(numSolverIterations=10) - self._pybullet_client.changeDynamics(self._planeId, linkIndex=-1, lateralFriction=0.9) + self._pycram_bullet_client.setPhysicsEngineParameter(numSolverIterations=10) + self._pycram_bullet_client.changeDynamics(self._planeId, linkIndex=-1, lateralFriction=0.9) self._mocapData = motion_capture_data_multiclip.MotionCaptureDataMultiClip() motion_file = self._arg_parser.parse_strings('motion_file') print("motion_file=", motion_file[0]) - motionPath = pybullet_data.getDataPath() + "/" + motion_file[0] + motionPath = pycram_bullet_data.getDataPath() + "/" + motion_file[0] self._mocapData.Load(motionPath) self._n_clips = self._mocapData.getNumClips() timeStep = self.timeStep useFixedBase = False - self._humanoid = humanoid_stable_pd_multiclip.HumanoidStablePDMultiClip(self._pybullet_client, self._mocapData, + self._humanoid = humanoid_stable_pd_multiclip.HumanoidStablePDMultiClip(self._pycram_bullet_client, self._mocapData, timeStep, useFixedBase, self._arg_parser) self._isInitialized = True - self._pybullet_client.setTimeStep(timeStep) - self._pybullet_client.setPhysicsEngineParameter(numSubSteps=1) + self._pycram_bullet_client.setTimeStep(timeStep) + self._pycram_bullet_client.setPhysicsEngineParameter(numSubSteps=1) # print("numframes = ", self._humanoid._mocap_data.NumFrames()) @@ -255,8 +255,8 @@ def log_val(self, agent_id, val): pass def update(self, timeStep): - # print("pybullet_deep_mimic_env:update timeStep=",timeStep," t=",self.t) - self._pybullet_client.setTimeStep(timeStep) + # print("pycram_bullet_deep_mimic_env:update timeStep=",timeStep," t=",self.t) + self._pycram_bullet_client.setTimeStep(timeStep) self._humanoid._timeStep = timeStep self.timeStep = timeStep @@ -278,7 +278,7 @@ def update(self, timeStep): self._humanoid.computeAndApplyPDForces(self.desiredPose[0], maxForces=maxForces) # TODO check if this should be inside the for loop - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() def set_sample_count(self, count): return @@ -299,13 +299,13 @@ def check_valid_episode(self): return True def getKeyboardEvents(self): - return self._pybullet_client.getKeyboardEvents() + return self._pycram_bullet_client.getKeyboardEvents() def isKeyTriggered(self, keys, key): o = ord(key) # print("ord=",o) if o in keys: - return keys[ord(key)] & self._pybullet_client.KEY_WAS_TRIGGERED + return keys[ord(key)] & self._pycram_bullet_client.KEY_WAS_TRIGGERED return False def select_reward(self, rewards, criterion=None): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/quadrupedPoseInterpolator.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/quadrupedPoseInterpolator.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/quadrupedPoseInterpolator.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/quadrupedPoseInterpolator.py index 49a05b0030..073000d9f2 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/quadrupedPoseInterpolator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/quadrupedPoseInterpolator.py @@ -1,4 +1,4 @@ -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client import math diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/quadruped_stable_pd.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/quadruped_stable_pd.py similarity index 72% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/quadruped_stable_pd.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/quadruped_stable_pd.py index 66f2f70b2f..1cf5a2fd08 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/quadruped_stable_pd.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/quadruped_stable_pd.py @@ -1,12 +1,12 @@ -from pybullet_utils import pd_controller_stable -from pybullet_envs.deep_mimic.env import quadruped_pose_interpolator +from pycram_bullet_utils import pd_controller_stable +from pycram_bullet_envs.deep_mimic.env import quadruped_pose_interpolator import math class QuadrupedStablePD(object): - def __init__(self, pybullet_client, mocap_data, timeStep, useFixedBase=True): - self._pybullet_client = pybullet_client + def __init__(self, pycram_bullet_client, mocap_data, timeStep, useFixedBase=True): + self._pycram_bullet_client = pycram_bullet_client self._mocap_data = mocap_data print("LOADING quadruped!") @@ -14,52 +14,52 @@ def __init__(self, pybullet_client, mocap_data, timeStep, useFixedBase=True): startOrn = [ 0.005934649695708604, 0.7065453990917289, 0.7076373820553712, -0.0027774940359030264 ] - self._sim_model = self._pybullet_client.loadURDF("laikago/laikago.urdf", + self._sim_model = self._pycram_bullet_client.loadURDF("laikago/laikago.urdf", startPos, startOrn, flags=urdfFlags, useFixedBase=False) - self._pybullet_client.resetBasePositionAndOrientation(_sim_model, startPos, startOrn) + self._pycram_bullet_client.resetBasePositionAndOrientation(_sim_model, startPos, startOrn) self._end_effectors = [] #ankle and wrist, both left and right - self._kin_model = self._pybullet_client.loadURDF("laikago/laikago.urdf", + self._kin_model = self._pycram_bullet_client.loadURDF("laikago/laikago.urdf", startPos, startOrn, useFixedBase=True) - self._pybullet_client.changeDynamics(self._sim_model, -1, lateralFriction=0.9) - for j in range(self._pybullet_client.getNumJoints(self._sim_model)): - self._pybullet_client.changeDynamics(self._sim_model, j, lateralFriction=0.9) + self._pycram_bullet_client.changeDynamics(self._sim_model, -1, lateralFriction=0.9) + for j in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): + self._pycram_bullet_client.changeDynamics(self._sim_model, j, lateralFriction=0.9) - self._pybullet_client.changeDynamics(self._sim_model, -1, linearDamping=0, angularDamping=0) - self._pybullet_client.changeDynamics(self._kin_model, -1, linearDamping=0, angularDamping=0) + self._pycram_bullet_client.changeDynamics(self._sim_model, -1, linearDamping=0, angularDamping=0) + self._pycram_bullet_client.changeDynamics(self._kin_model, -1, linearDamping=0, angularDamping=0) #todo: add feature to disable simulation for a particular object. Until then, disable all collisions - self._pybullet_client.setCollisionFilterGroupMask(self._kin_model, + self._pycram_bullet_client.setCollisionFilterGroupMask(self._kin_model, -1, collisionFilterGroup=0, collisionFilterMask=0) - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self._kin_model, -1, - activationState=self._pybullet_client.ACTIVATION_STATE_SLEEP + - self._pybullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + - self._pybullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) + activationState=self._pycram_bullet_client.ACTIVATION_STATE_SLEEP + + self._pycram_bullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + + self._pycram_bullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) alpha = 0.4 - self._pybullet_client.changeVisualShape(self._kin_model, -1, rgbaColor=[1, 1, 1, alpha]) - for j in range(self._pybullet_client.getNumJoints(self._kin_model)): - self._pybullet_client.setCollisionFilterGroupMask(self._kin_model, + self._pycram_bullet_client.changeVisualShape(self._kin_model, -1, rgbaColor=[1, 1, 1, alpha]) + for j in range(self._pycram_bullet_client.getNumJoints(self._kin_model)): + self._pycram_bullet_client.setCollisionFilterGroupMask(self._kin_model, j, collisionFilterGroup=0, collisionFilterMask=0) - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self._kin_model, j, - activationState=self._pybullet_client.ACTIVATION_STATE_SLEEP + - self._pybullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + - self._pybullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) - self._pybullet_client.changeVisualShape(self._kin_model, j, rgbaColor=[1, 1, 1, alpha]) + activationState=self._pycram_bullet_client.ACTIVATION_STATE_SLEEP + + self._pycram_bullet_client.ACTIVATION_STATE_ENABLE_SLEEPING + + self._pycram_bullet_client.ACTIVATION_STATE_DISABLE_WAKEUP) + self._pycram_bullet_client.changeVisualShape(self._kin_model, j, rgbaColor=[1, 1, 1, alpha]) self._poseInterpolator = humanoid_pose_interpolator.HumanoidPoseInterpolator() @@ -67,7 +67,7 @@ def __init__(self, pybullet_client, mocap_data, timeStep, useFixedBase=True): frameData = self._mocap_data._motion_data['Frames'][i] self._poseInterpolator.PostProcessMotionData(frameData) - self._stablePD = pd_controller_stable.PDControllerStableMultiDof(self._pybullet_client) + self._stablePD = pd_controller_stable.PDControllerStableMultiDof(self._pycram_bullet_client) self._timeStep = timeStep #todo: kp/pd self._kpOrg = [ @@ -85,34 +85,34 @@ def __init__(self, pybullet_client, mocap_data, timeStep, useFixedBase=True): leftAnkle, leftShoulder, leftElbow ] for j in self._jointIndicesAll: - #self._pybullet_client.setJointMotorControlMultiDof(self._sim_model, j, self._pybullet_client.POSITION_CONTROL, force=[1,1,1]) - self._pybullet_client.setJointMotorControl2(self._sim_model, + #self._pycram_bullet_client.setJointMotorControlMultiDof(self._sim_model, j, self._pycram_bullet_client.POSITION_CONTROL, force=[1,1,1]) + self._pycram_bullet_client.setJointMotorControl2(self._sim_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=0, positionGain=0, targetVelocity=0, force=jointFrictionForce) - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=[0, 0, 0, 1], targetVelocity=[0, 0, 0], positionGain=0, velocityGain=1, force=[jointFrictionForce, jointFrictionForce, jointFrictionForce]) - self._pybullet_client.setJointMotorControl2(self._kin_model, + self._pycram_bullet_client.setJointMotorControl2(self._kin_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=0, positionGain=0, targetVelocity=0, force=0) - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._kin_model, j, - self._pybullet_client.POSITION_CONTROL, + self._pycram_bullet_client.POSITION_CONTROL, targetPosition=[0, 0, 0, 1], targetVelocity=[0, 0, 0], positionGain=0, @@ -142,55 +142,55 @@ def initializePose(self, pose, phys_model, initBase, initializeVelocity=True): if initializeVelocity: if initBase: - self._pybullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, + self._pycram_bullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, pose._baseOrn) - self._pybullet_client.resetBaseVelocity(phys_model, pose._baseLinVel, pose._baseAngVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, chest, pose._chestRot, + self._pycram_bullet_client.resetBaseVelocity(phys_model, pose._baseLinVel, pose._baseAngVel) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, chest, pose._chestRot, pose._chestVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, neck, pose._neckRot, pose._neckVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightHip, pose._rightHipRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, neck, pose._neckRot, pose._neckVel) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightHip, pose._rightHipRot, pose._rightHipVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightKnee, pose._rightKneeRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightKnee, pose._rightKneeRot, pose._rightKneeVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightAnkle, pose._rightAnkleRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightAnkle, pose._rightAnkleRot, pose._rightAnkleVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightShoulder, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightShoulder, pose._rightShoulderRot, pose._rightShoulderVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightElbow, pose._rightElbowRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightElbow, pose._rightElbowRot, pose._rightElbowVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftHip, pose._leftHipRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftHip, pose._leftHipRot, pose._leftHipVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftKnee, pose._leftKneeRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftKnee, pose._leftKneeRot, pose._leftKneeVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftAnkle, pose._leftAnkleRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftAnkle, pose._leftAnkleRot, pose._leftAnkleVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftShoulder, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftShoulder, pose._leftShoulderRot, pose._leftShoulderVel) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftElbow, pose._leftElbowRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftElbow, pose._leftElbowRot, pose._leftElbowVel) else: if initBase: - self._pybullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, + self._pycram_bullet_client.resetBasePositionAndOrientation(phys_model, pose._basePos, pose._baseOrn) - self._pybullet_client.resetJointStateMultiDof(phys_model, chest, pose._chestRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, neck, pose._neckRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightHip, pose._rightHipRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, chest, pose._chestRot, [0, 0, 0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, neck, pose._neckRot, [0, 0, 0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightHip, pose._rightHipRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightKnee, pose._rightKneeRot, [0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightAnkle, pose._rightAnkleRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightKnee, pose._rightKneeRot, [0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightAnkle, pose._rightAnkleRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightShoulder, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightShoulder, pose._rightShoulderRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, rightElbow, pose._rightElbowRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, rightElbow, pose._rightElbowRot, [0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftHip, pose._leftHipRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftHip, pose._leftHipRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftKnee, pose._leftKneeRot, [0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftAnkle, pose._leftAnkleRot, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftKnee, pose._leftKneeRot, [0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftAnkle, pose._leftAnkleRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftShoulder, + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftShoulder, pose._leftShoulderRot, [0, 0, 0]) - self._pybullet_client.resetJointStateMultiDof(phys_model, leftElbow, pose._leftElbowRot, [0]) + self._pycram_bullet_client.resetJointStateMultiDof(phys_model, leftElbow, pose._leftElbowRot, [0]) def calcCycleCount(self, simTime, cycleTime): phases = simTime / cycleTime @@ -245,7 +245,7 @@ def computePose(self, frameFraction): frameData = self._mocap_data._motion_data['Frames'][self._frame] frameDataNext = self._mocap_data._motion_data['Frames'][self._frameNext] - self._poseInterpolator.Slerp(frameFraction, frameData, frameDataNext, self._pybullet_client) + self._poseInterpolator.Slerp(frameFraction, frameData, frameDataNext, self._pycram_bullet_client) #print("self._poseInterpolator.Slerp(", frameFraction,")=", pose) self.computeCycleOffset() oldPos = self._poseInterpolator._basePos @@ -259,7 +259,7 @@ def computePose(self, frameFraction): return pose def convertActionToPose(self, action): - pose = self._poseInterpolator.ConvertFromAction(self._pybullet_client, action) + pose = self._poseInterpolator.ConvertFromAction(self._pycram_bullet_client, action) return pose def computePDForces(self, desiredPositions, desiredVelocities, maxForces): @@ -287,22 +287,22 @@ def applyPDForces(self, taus): scaling * taus[dofIndex + 2] ] #print("force[", jointIndex,"]=",force) - self._pybullet_client.setJointMotorControlMultiDof(self._sim_model, + self._pycram_bullet_client.setJointMotorControlMultiDof(self._sim_model, jointIndex, - self._pybullet_client.TORQUE_CONTROL, + self._pycram_bullet_client.TORQUE_CONTROL, force=force) if self._jointDofCounts[index] == 1: force = [scaling * taus[dofIndex]] #print("force[", jointIndex,"]=",force) - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, jointIndex, - controlMode=self._pybullet_client.TORQUE_CONTROL, + controlMode=self._pycram_bullet_client.TORQUE_CONTROL, force=force) dofIndex += self._jointDofCounts[index] def setJointMotors(self, desiredPositions, maxForces): - controlMode = self._pybullet_client.POSITION_CONTROL + controlMode = self._pycram_bullet_client.POSITION_CONTROL startIndex = 7 chest = 1 neck = 2 @@ -325,7 +325,7 @@ def setJointMotors(self, desiredPositions, maxForces): forceScale * maxForces[startIndex + 2], forceScale * maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, chest, controlMode, @@ -337,7 +337,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, neck, controlMode, @@ -349,7 +349,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, rightHip, controlMode, @@ -358,7 +358,7 @@ def setJointMotors(self, desiredPositions, maxForces): force=maxForce) maxForce = [forceScale * maxForces[startIndex]] startIndex += 1 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, rightKnee, controlMode, @@ -370,7 +370,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, rightAnkle, controlMode, @@ -384,7 +384,7 @@ def setJointMotors(self, desiredPositions, maxForces): startIndex += 4 maxForce = [forceScale * maxForces[startIndex]] startIndex += 1 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, rightElbow, controlMode, @@ -396,7 +396,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftHip, controlMode, @@ -405,7 +405,7 @@ def setJointMotors(self, desiredPositions, maxForces): force=maxForce) maxForce = [forceScale * maxForces[startIndex]] startIndex += 1 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftKnee, controlMode, @@ -417,7 +417,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftAnkle, controlMode, @@ -429,7 +429,7 @@ def setJointMotors(self, desiredPositions, maxForces): maxForces[startIndex + 3] ] startIndex += 4 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftShoulder, controlMode, @@ -438,7 +438,7 @@ def setJointMotors(self, desiredPositions, maxForces): force=maxForce) maxForce = [forceScale * maxForces[startIndex]] startIndex += 1 - self._pybullet_client.setJointMotorControlMultiDof( + self._pycram_bullet_client.setJointMotorControlMultiDof( self._sim_model, leftElbow, controlMode, @@ -458,35 +458,35 @@ def getPhase(self): def buildHeadingTrans(self, rootOrn): #align root transform 'forward' with world-space x axis - eul = self._pybullet_client.getEulerFromQuaternion(rootOrn) + eul = self._pycram_bullet_client.getEulerFromQuaternion(rootOrn) refDir = [1, 0, 0] - rotVec = self._pybullet_client.rotateVector(rootOrn, refDir) + rotVec = self._pycram_bullet_client.rotateVector(rootOrn, refDir) heading = math.atan2(-rotVec[2], rotVec[0]) heading2 = eul[1] #print("heading=",heading) - headingOrn = self._pybullet_client.getQuaternionFromAxisAngle([0, 1, 0], -heading) + headingOrn = self._pycram_bullet_client.getQuaternionFromAxisAngle([0, 1, 0], -heading) return headingOrn def buildOriginTrans(self): - rootPos, rootOrn = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) + rootPos, rootOrn = self._pycram_bullet_client.getBasePositionAndOrientation(self._sim_model) #print("rootPos=",rootPos, " rootOrn=",rootOrn) invRootPos = [-rootPos[0], 0, -rootPos[2]] - #invOrigTransPos, invOrigTransOrn = self._pybullet_client.invertTransform(rootPos,rootOrn) + #invOrigTransPos, invOrigTransOrn = self._pycram_bullet_client.invertTransform(rootPos,rootOrn) headingOrn = self.buildHeadingTrans(rootOrn) #print("headingOrn=",headingOrn) - headingMat = self._pybullet_client.getMatrixFromQuaternion(headingOrn) + headingMat = self._pycram_bullet_client.getMatrixFromQuaternion(headingOrn) #print("headingMat=",headingMat) - #dummy, rootOrnWithoutHeading = self._pybullet_client.multiplyTransforms([0,0,0],headingOrn, [0,0,0], rootOrn) - #dummy, invOrigTransOrn = self._pybullet_client.multiplyTransforms([0,0,0],rootOrnWithoutHeading, invOrigTransPos, invOrigTransOrn) + #dummy, rootOrnWithoutHeading = self._pycram_bullet_client.multiplyTransforms([0,0,0],headingOrn, [0,0,0], rootOrn) + #dummy, invOrigTransOrn = self._pycram_bullet_client.multiplyTransforms([0,0,0],rootOrnWithoutHeading, invOrigTransPos, invOrigTransOrn) - invOrigTransPos, invOrigTransOrn = self._pybullet_client.multiplyTransforms([0, 0, 0], + invOrigTransPos, invOrigTransOrn = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], headingOrn, invRootPos, [0, 0, 0, 1]) #print("invOrigTransPos=",invOrigTransPos) #print("invOrigTransOrn=",invOrigTransOrn) - invOrigTransMat = self._pybullet_client.getMatrixFromQuaternion(invOrigTransOrn) + invOrigTransMat = self._pycram_bullet_client.getMatrixFromQuaternion(invOrigTransOrn) #print("invOrigTransMat =",invOrigTransMat ) return invOrigTransPos, invOrigTransOrn @@ -498,14 +498,14 @@ def getState(self): stateVector.append(phase) rootTransPos, rootTransOrn = self.buildOriginTrans() - basePos, baseOrn = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) + basePos, baseOrn = self._pycram_bullet_client.getBasePositionAndOrientation(self._sim_model) - rootPosRel, dummy = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, + rootPosRel, dummy = self._pycram_bullet_client.multiplyTransforms(rootTransPos, rootTransOrn, basePos, [0, 0, 0, 1]) #print("!!!rootPosRel =",rootPosRel ) #print("rootTransPos=",rootTransPos) #print("basePos=",basePos) - localPos, localOrn = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, + localPos, localOrn = self._pycram_bullet_client.multiplyTransforms(rootTransPos, rootTransOrn, basePos, baseOrn) localPos = [ @@ -518,13 +518,13 @@ def getState(self): #self.pb2dmJoints=[0,1,2,9,10,11,3,4,5,12,13,14,6,7,8] self.pb2dmJoints = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14] - for pbJoint in range(self._pybullet_client.getNumJoints(self._sim_model)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): j = self.pb2dmJoints[pbJoint] #print("joint order:",j) - ls = self._pybullet_client.getLinkState(self._sim_model, j, computeForwardKinematics=True) + ls = self._pycram_bullet_client.getLinkState(self._sim_model, j, computeForwardKinematics=True) linkPos = ls[0] linkOrn = ls[1] - linkPosLocal, linkOrnLocal = self._pybullet_client.multiplyTransforms( + linkPosLocal, linkOrnLocal = self._pycram_bullet_client.multiplyTransforms( rootTransPos, rootTransOrn, linkPos, linkOrn) if (linkOrnLocal[3] < 0): linkOrnLocal = [-linkOrnLocal[0], -linkOrnLocal[1], -linkOrnLocal[2], -linkOrnLocal[3]] @@ -547,15 +547,15 @@ def getState(self): stateVector.append(linkOrnLocal[1]) stateVector.append(linkOrnLocal[2]) - for pbJoint in range(self._pybullet_client.getNumJoints(self._sim_model)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._sim_model)): j = self.pb2dmJoints[pbJoint] - ls = self._pybullet_client.getLinkState(self._sim_model, j, computeLinkVelocity=True) + ls = self._pycram_bullet_client.getLinkState(self._sim_model, j, computeLinkVelocity=True) linkLinVel = ls[6] linkAngVel = ls[7] - linkLinVelLocal, unused = self._pybullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, + linkLinVelLocal, unused = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, linkLinVel, [0, 0, 0, 1]) #linkLinVelLocal=[linkLinVelLocal[0]-rootPosRel[0],linkLinVelLocal[1]-rootPosRel[1],linkLinVelLocal[2]-rootPosRel[2]] - linkAngVelLocal, unused = self._pybullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, + linkAngVelLocal, unused = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], rootTransOrn, linkAngVel, [0, 0, 0, 1]) for l in linkLinVelLocal: @@ -571,7 +571,7 @@ def getState(self): def terminates(self): #check if any non-allowed body part hits the ground terminates = False - pts = self._pybullet_client.getContactPoints() + pts = self._pycram_bullet_client.getContactPoints() for p in pts: part = -1 #ignore self-collision @@ -602,7 +602,7 @@ def calcRootAngVelErr(self, vel0, vel1): def calcRootRotDiff(self, orn0, orn1): orn0Conj = [-orn0[0], -orn0[1], -orn0[2], orn0[3]] q_diff = self.quatMul(orn1, orn0Conj) - axis, angle = self._pybullet_client.getAxisAngleFromQuaternion(q_diff) + axis, angle = self._pycram_bullet_client.getAxisAngleFromQuaternion(q_diff) return angle * angle def getReward(self, pose): @@ -641,8 +641,8 @@ def getReward(self, pose): #pose = self.InitializePoseFromMotionData() #print("self._kin_model=",self._kin_model) - #print("kinematicHumanoid #joints=",self._pybullet_client.getNumJoints(self._kin_model)) - #self.ApplyPose(pose, True, True, self._kin_model, self._pybullet_client) + #print("kinematicHumanoid #joints=",self._pycram_bullet_client.getNumJoints(self._kin_model)) + #self.ApplyPose(pose, True, True, self._kin_model, self._pycram_bullet_client) #const Eigen::VectorXd& pose0 = sim_char.GetPose(); #const Eigen::VectorXd& vel0 = sim_char.GetVel(); @@ -676,10 +676,10 @@ def getReward(self, pose): num_joints = 15 root_rot_w = mJointWeights[root_id] - rootPosSim, rootOrnSim = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) - rootPosKin, rootOrnKin = self._pybullet_client.getBasePositionAndOrientation(self._kin_model) - linVelSim, angVelSim = self._pybullet_client.getBaseVelocity(self._sim_model) - linVelKin, angVelKin = self._pybullet_client.getBaseVelocity(self._kin_model) + rootPosSim, rootOrnSim = self._pycram_bullet_client.getBasePositionAndOrientation(self._sim_model) + rootPosKin, rootOrnKin = self._pycram_bullet_client.getBasePositionAndOrientation(self._kin_model) + linVelSim, angVelSim = self._pycram_bullet_client.getBaseVelocity(self._sim_model) + linVelKin, angVelKin = self._pycram_bullet_client.getBaseVelocity(self._kin_model) root_rot_err = self.calcRootRotDiff(rootOrnSim, rootOrnKin) pose_err += root_rot_w * root_rot_err @@ -698,11 +698,11 @@ def getReward(self, pose): curr_vel_err = 0 w = mJointWeights[j] - simJointInfo = self._pybullet_client.getJointStateMultiDof(self._sim_model, j) + simJointInfo = self._pycram_bullet_client.getJointStateMultiDof(self._sim_model, j) #print("simJointInfo.pos=",simJointInfo[0]) #print("simJointInfo.vel=",simJointInfo[1]) - kinJointInfo = self._pybullet_client.getJointStateMultiDof(self._kin_model, j) + kinJointInfo = self._pycram_bullet_client.getJointStateMultiDof(self._kin_model, j) #print("kinJointInfo.pos=",kinJointInfo[0]) #print("kinJointInfo.vel=",kinJointInfo[1]) if (len(simJointInfo[0]) == 1): @@ -712,8 +712,8 @@ def getReward(self, pose): curr_vel_err = velDiff * velDiff if (len(simJointInfo[0]) == 4): #print("quaternion diff") - diffQuat = self._pybullet_client.getDifferenceQuaternion(simJointInfo[0], kinJointInfo[0]) - axis, angle = self._pybullet_client.getAxisAngleFromQuaternion(diffQuat) + diffQuat = self._pycram_bullet_client.getDifferenceQuaternion(simJointInfo[0], kinJointInfo[0]) + axis, angle = self._pycram_bullet_client.getAxisAngleFromQuaternion(diffQuat) curr_pose_err = angle * angle diffVel = [ simJointInfo[1][0] - kinJointInfo[1][0], simJointInfo[1][1] - kinJointInfo[1][1], @@ -727,8 +727,8 @@ def getReward(self, pose): is_end_eff = j in self._end_effectors if is_end_eff: - linkStateSim = self._pybullet_client.getLinkState(self._sim_model, j) - linkStateKin = self._pybullet_client.getLinkState(self._kin_model, j) + linkStateSim = self._pycram_bullet_client.getLinkState(self._sim_model, j) + linkStateKin = self._pycram_bullet_client.getLinkState(self._kin_model, j) linkPosSim = linkStateSim[0] linkPosKin = linkStateKin[0] linkPosDiff = [ diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py similarity index 56% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py index 7f52bf08d9..66604e9c86 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py @@ -1,47 +1,47 @@ -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client import time import math import motion_capture_data -from pybullet_envs.deep_mimic.env import humanoid_stable_pd -import pybullet_data -import pybullet as p1 +from pycram_bullet_envs.deep_mimic.env import humanoid_stable_pd +import pycram_bullet_data +import pycram_bullet as p1 import humanoid_pose_interpolator import numpy as np -pybullet_client = bullet_client.BulletClient(connection_mode=p1.GUI) +pycram_bullet_client = bullet_client.BulletClient(connection_mode=p1.GUI) -pybullet_client.setAdditionalSearchPath(pybullet_data.getDataPath()) -z2y = pybullet_client.getQuaternionFromEuler([-math.pi * 0.5, 0, 0]) -#planeId = pybullet_client.loadURDF("plane.urdf",[0,0,0],z2y) -planeId = pybullet_client.loadURDF("plane_implicit.urdf", [0, 0, 0], +pycram_bullet_client.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) +z2y = pycram_bullet_client.getQuaternionFromEuler([-math.pi * 0.5, 0, 0]) +#planeId = pycram_bullet_client.loadURDF("plane.urdf",[0,0,0],z2y) +planeId = pycram_bullet_client.loadURDF("plane_implicit.urdf", [0, 0, 0], z2y, useMaximalCoordinates=True) -pybullet_client.changeDynamics(planeId, linkIndex=-1, lateralFriction=0.9) +pycram_bullet_client.changeDynamics(planeId, linkIndex=-1, lateralFriction=0.9) #print("planeId=",planeId) -pybullet_client.configureDebugVisualizer(pybullet_client.COV_ENABLE_Y_AXIS_UP, 1) -pybullet_client.setGravity(0, -9.8, 0) +pycram_bullet_client.configureDebugVisualizer(pycram_bullet_client.COV_ENABLE_Y_AXIS_UP, 1) +pycram_bullet_client.setGravity(0, -9.8, 0) -pybullet_client.setPhysicsEngineParameter(numSolverIterations=10) +pycram_bullet_client.setPhysicsEngineParameter(numSolverIterations=10) mocapData = motion_capture_data.MotionCaptureData() -#motionPath = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt" -motionPath = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt" +#motionPath = pycram_bullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt" +motionPath = pycram_bullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt" mocapData.Load(motionPath) timeStep = 1. / 600 useFixedBase = False -humanoid = humanoid_stable_pd.HumanoidStablePD(pybullet_client, mocapData, timeStep, useFixedBase) +humanoid = humanoid_stable_pd.HumanoidStablePD(pycram_bullet_client, mocapData, timeStep, useFixedBase) isInitialized = True -pybullet_client.setTimeStep(timeStep) -pybullet_client.setPhysicsEngineParameter(numSubSteps=2) -timeId = pybullet_client.addUserDebugParameter("time", 0, 10, 0) +pycram_bullet_client.setTimeStep(timeStep) +pycram_bullet_client.setPhysicsEngineParameter(numSubSteps=2) +timeId = pycram_bullet_client.addUserDebugParameter("time", 0, 10, 0) def isKeyTriggered(keys, key): o = ord(key) if o in keys: - return keys[ord(key)] & pybullet_client.KEY_WAS_TRIGGERED + return keys[ord(key)] & pycram_bullet_client.KEY_WAS_TRIGGERED return False @@ -51,7 +51,7 @@ def isKeyTriggered(keys, key): t = 0 while (1): - keys = pybullet_client.getKeyboardEvents() + keys = pycram_bullet_client.getKeyboardEvents() #print(keys) if isKeyTriggered(keys, ' '): animating = not animating @@ -62,7 +62,7 @@ def isKeyTriggered(keys, key): if animating or singleStep: singleStep = False - #t = pybullet_client.readUserDebugParameter(timeId) + #t = pycram_bullet_client.readUserDebugParameter(timeId) #print("t=",t) for i in range(1): @@ -96,7 +96,7 @@ def isKeyTriggered(keys, key): else: humanoid.computeAndApplyPDForces(desiredPose,maxForces=maxForces) - pybullet_client.stepSimulation() + pycram_bullet_client.stepSimulation() t += 1. / 600. time.sleep(1. / 600.) diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py index faee61fda4..e375ffb8fd 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py @@ -1,7 +1,7 @@ -import pybullet as p1 -from pybullet_utils import bullet_client -import pybullet_data -from pybullet_utils import pd_controller_stable +import pycram_bullet as p1 +from pycram_bullet_utils import bullet_client +import pycram_bullet_data +from pycram_bullet_utils import pd_controller_stable import time import motion_capture_data @@ -11,7 +11,7 @@ useConstraints = False p = bullet_client.BulletClient(connection_mode=p1.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) plane = p.loadURDF("plane.urdf") p.setGravity(0, 0, -10) @@ -122,7 +122,7 @@ mocapData = motion_capture_data.MotionCaptureData() -motionPath = pybullet_data.getDataPath() + "/data/motions/laikago_walk.txt" +motionPath = pycram_bullet_data.getDataPath() + "/data/motions/laikago_walk.txt" mocapData.Load(motionPath) print("mocapData.NumFrames=", mocapData.NumFrames()) diff --git a/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/gym_env/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/gym_env/__init__.py new file mode 100644 index 0000000000..81ece641b7 --- /dev/null +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/gym_env/__init__.py @@ -0,0 +1,3 @@ +from pycram_bullet_envs.deep_mimic.gym_env.deep_mimic_env import HumanoidDeepMimicBackflipBulletEnv +from pycram_bullet_envs.deep_mimic.gym_env.deep_mimic_env import HumanoidDeepMimicWalkBulletEnv + diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/deep_mimic_env.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/gym_env/deep_mimic_env.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/deep_mimic_env.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/gym_env/deep_mimic_env.py index 26366a079b..44e97007ef 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/deep_mimic_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/gym_env/deep_mimic_env.py @@ -15,13 +15,13 @@ import numpy as np import time import subprocess -import pybullet as p2 -import pybullet_data -from pybullet_utils import bullet_client as bc +import pycram_bullet as p2 +import pycram_bullet_data +from pycram_bullet_utils import bullet_client as bc from pkg_resources import parse_version -from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMimicEnv, InitializationStrategy -from pybullet_utils.arg_parser import ArgParser -from pybullet_utils.logger import Logger +from pycram_bullet_envs.deep_mimic.env.pycram_bullet_deep_mimic_env import PyBulletDeepMimicEnv, InitializationStrategy +from pycram_bullet_utils.arg_parser import ArgParser +from pycram_bullet_utils.logger import Logger logger = logging.getLogger(__name__) @@ -45,7 +45,7 @@ def __init__(self, renders=False, arg_file='', test_mode=False, Logger.print2("===========================================================") succ = False if (arg_file != ''): - path = pybullet_data.getDataPath() + "/args/" + arg_file + path = pycram_bullet_data.getDataPath() + "/args/" + arg_file succ = self._arg_parser.load_file(path) Logger.print2(arg_file) assert succ, Logger.print2('Failed to load args from: ' + arg_file) @@ -182,7 +182,7 @@ def reset(self): init_strategy=init_strat) self._internal_env.reset() - self._p = self._internal_env._pybullet_client + self._p = self._internal_env._pycram_bullet_client agent_id = self.agent_id # unused here self._state_offset = self._internal_env.build_state_offset(self.agent_id) self._state_scale = self._internal_env.build_state_scale(self.agent_id) diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/deepmimic_test.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/gym_env/deepmimic_test.py similarity index 58% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/deepmimic_test.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/gym_env/deepmimic_test.py index 46c875aba9..bea6bf7860 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/deepmimic_test.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/gym_env/deepmimic_test.py @@ -1,5 +1,5 @@ import gym -import pybullet_envs +import pycram_bullet_envs import time #env = gym.make('HumanoidDeepMimicBackflipBulletEnv-v1') @@ -11,18 +11,18 @@ print(dir(env)) print(dir(env.env)) dt = 1./240. -logId = env.env._internal_env._pybullet_client.startStateLogging(env.env._internal_env._pybullet_client.STATE_LOGGING_PROFILE_TIMINGS, "perf.json") +logId = env.env._internal_env._pycram_bullet_client.startStateLogging(env.env._internal_env._pycram_bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "perf.json") for i in range (100): - env.env._internal_env._pybullet_client.submitProfileTiming("loop") + env.env._internal_env._pycram_bullet_client.submitProfileTiming("loop") env.reset() - env.env._internal_env._pybullet_client.submitProfileTiming() -env.env._internal_env._pybullet_client.stopStateLogging(logId) + env.env._internal_env._pycram_bullet_client.submitProfileTiming() +env.env._internal_env._pycram_bullet_client.stopStateLogging(logId) action = env.env.action_space.sample() while (1): time.sleep(dt) - #keys = env.env._internal_env._pybullet_client.getKeyboardEvents() + #keys = env.env._internal_env._pycram_bullet_client.getKeyboardEvents() #if keys: # env.reset() #action=[0]*36 diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py similarity index 70% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py index cf67210daf..084cc9211e 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/agent_builder.py @@ -1,14 +1,14 @@ import json import numpy as np -from pybullet_envs.deep_mimic.learning.ppo_agent import PPOAgent -import pybullet_data +from pycram_bullet_envs.deep_mimic.learning.ppo_agent import PPOAgent +import pycram_bullet_data AGENT_TYPE_KEY = "AgentType" def build_agent(world, id, file): agent = None - with open(pybullet_data.getDataPath() + "/" + file) as data_file: + with open(pycram_bullet_data.getDataPath() + "/" + file) as data_file: json_data = json.load(data_file) assert AGENT_TYPE_KEY in json_data diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/exp_params.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/exp_params.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/exp_params.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/exp_params.py index 4a01dfec96..5aa5cb0a1f 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/exp_params.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/exp_params.py @@ -1,6 +1,6 @@ import json import numpy as np -import pybullet_utils.math_util as MathUtil +import pycram_bullet_utils.math_util as MathUtil class ExpParams(object): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/nets/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/nets/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py similarity index 85% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py index 7c98b0bf8f..544d72211a 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/nets/fc_2layers_1024units.py @@ -3,7 +3,7 @@ except Exception: import tensorflow as tf -import pybullet_envs.deep_mimic.learning.tf_util as TFUtil +import pycram_bullet_envs.deep_mimic.learning.tf_util as TFUtil NAME = "fc_2layers_1024units" diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py similarity index 71% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py index 1441bffd9c..21b892daaf 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/nets/net_builder.py @@ -1,4 +1,4 @@ -import pybullet_envs.deep_mimic.learning.nets.fc_2layers_1024units as fc_2layers_1024units +import pycram_bullet_envs.deep_mimic.learning.nets.fc_2layers_1024units as fc_2layers_1024units def build_net(net_name, input_tfs, reuse=False): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/normalizer.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/normalizer.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/normalizer.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/normalizer.py index 8feabc7f9b..8889ac5a6d 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/normalizer.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/normalizer.py @@ -1,7 +1,7 @@ import numpy as np import copy -import pybullet_utils.mpi_util as MPIUtil -from pybullet_utils.logger import Logger +import pycram_bullet_utils.mpi_util as MPIUtil +from pycram_bullet_utils.logger import Logger class Normalizer(object): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/path.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/path.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/path.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/path.py index 37ae1146ce..9779058b2a 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/path.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/path.py @@ -1,5 +1,5 @@ import numpy as np -from pybullet_envs.deep_mimic.env.env import Env +from pycram_bullet_envs.deep_mimic.env.env import Env class Path(object): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py index a8c743cf83..a17a545171 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/pg_agent.py @@ -6,17 +6,17 @@ import copy -from pybullet_envs.deep_mimic.learning.tf_agent import TFAgent -from pybullet_envs.deep_mimic.learning.solvers.mpi_solver import MPISolver -import pybullet_envs.deep_mimic.learning.tf_util as TFUtil -import pybullet_envs.deep_mimic.learning.nets.net_builder as NetBuilder -from pybullet_envs.deep_mimic.learning.tf_normalizer import TFNormalizer -import pybullet_envs.deep_mimic.learning.rl_util as RLUtil -from pybullet_utils.logger import Logger -import pybullet_utils.mpi_util as MPIUtil -import pybullet_utils.math_util as MathUtil -from pybullet_envs.deep_mimic.env.action_space import ActionSpace -from pybullet_envs.deep_mimic.env.env import Env +from pycram_bullet_envs.deep_mimic.learning.tf_agent import TFAgent +from pycram_bullet_envs.deep_mimic.learning.solvers.mpi_solver import MPISolver +import pycram_bullet_envs.deep_mimic.learning.tf_util as TFUtil +import pycram_bullet_envs.deep_mimic.learning.nets.net_builder as NetBuilder +from pycram_bullet_envs.deep_mimic.learning.tf_normalizer import TFNormalizer +import pycram_bullet_envs.deep_mimic.learning.rl_util as RLUtil +from pycram_bullet_utils.logger import Logger +import pycram_bullet_utils.mpi_util as MPIUtil +import pycram_bullet_utils.math_util as MathUtil +from pycram_bullet_envs.deep_mimic.env.action_space import ActionSpace +from pycram_bullet_envs.deep_mimic.env.env import Env ''' Policy Gradient Agent ''' diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py index 129b6c4519..659f4ce9e9 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/ppo_agent.py @@ -5,14 +5,14 @@ except Exception: import tensorflow as tf -from pybullet_envs.deep_mimic.learning.pg_agent import PGAgent -from pybullet_envs.deep_mimic.learning.solvers.mpi_solver import MPISolver -import pybullet_envs.deep_mimic.learning.tf_util as TFUtil -import pybullet_envs.deep_mimic.learning.rl_util as RLUtil -from pybullet_utils.logger import Logger -import pybullet_utils.mpi_util as MPIUtil -import pybullet_utils.math_util as MathUtil -from pybullet_envs.deep_mimic.env.env import Env +from pycram_bullet_envs.deep_mimic.learning.pg_agent import PGAgent +from pycram_bullet_envs.deep_mimic.learning.solvers.mpi_solver import MPISolver +import pycram_bullet_envs.deep_mimic.learning.tf_util as TFUtil +import pycram_bullet_envs.deep_mimic.learning.rl_util as RLUtil +from pycram_bullet_utils.logger import Logger +import pycram_bullet_utils.mpi_util as MPIUtil +import pycram_bullet_utils.math_util as MathUtil +from pycram_bullet_envs.deep_mimic.env.env import Env ''' Proximal Policy Optimization Agent ''' diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/replay_buffer.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/replay_buffer.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/replay_buffer.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/replay_buffer.py index f002c7572a..9edb63d72d 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/replay_buffer.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/replay_buffer.py @@ -1,9 +1,9 @@ import numpy as np import copy -from pybullet_utils.logger import Logger +from pycram_bullet_utils.logger import Logger import inspect as inspect -from pybullet_envs.deep_mimic.env.env import Env -import pybullet_utils.math_util as MathUtil +from pycram_bullet_envs.deep_mimic.env.env import Env +import pycram_bullet_utils.math_util as MathUtil class ReplayBuffer(object): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py index fe9a05d856..e6d7af8188 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py @@ -12,13 +12,13 @@ from enum import Enum -from pybullet_envs.deep_mimic.learning.path import * -from pybullet_envs.deep_mimic.learning.exp_params import ExpParams -from pybullet_envs.deep_mimic.learning.normalizer import Normalizer -from pybullet_envs.deep_mimic.learning.replay_buffer import ReplayBuffer -from pybullet_utils.logger import Logger -import pybullet_utils.mpi_util as MPIUtil -import pybullet_utils.math_util as MathUtil +from pycram_bullet_envs.deep_mimic.learning.path import * +from pycram_bullet_envs.deep_mimic.learning.exp_params import ExpParams +from pycram_bullet_envs.deep_mimic.learning.normalizer import Normalizer +from pycram_bullet_envs.deep_mimic.learning.replay_buffer import ReplayBuffer +from pycram_bullet_utils.logger import Logger +import pycram_bullet_utils.mpi_util as MPIUtil +import pycram_bullet_utils.math_util as MathUtil class RLAgent(ABC): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_util.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/rl_util.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_util.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/rl_util.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py similarity index 90% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py index 32841eade0..a3bc3eed07 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/rl_world.py @@ -1,9 +1,9 @@ import numpy as np -import pybullet_envs.deep_mimic.learning.agent_builder as AgentBuilder -import pybullet_envs.deep_mimic.learning.tf_util as TFUtil -from pybullet_envs.deep_mimic.learning.rl_agent import RLAgent -from pybullet_utils.logger import Logger -import pybullet_data +import pycram_bullet_envs.deep_mimic.learning.agent_builder as AgentBuilder +import pycram_bullet_envs.deep_mimic.learning.tf_util as TFUtil +from pycram_bullet_envs.deep_mimic.learning.rl_agent import RLAgent +from pycram_bullet_utils.logger import Logger +import pycram_bullet_data class RLWorld(object): @@ -82,7 +82,7 @@ def build_agents(self): if (len(model_files) > 0): curr_model_file = model_files[i] if curr_model_file != 'none': - curr_agent.load_model(pybullet_data.getDataPath() + "/" + curr_model_file) + curr_agent.load_model(pycram_bullet_data.getDataPath() + "/" + curr_model_file) self.agents.append(curr_agent) Logger.print2('') diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/solvers/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/solvers/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py similarity index 90% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py index dc881b510f..f93dfbbbca 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/solvers/mpi_solver.py @@ -5,12 +5,12 @@ import tensorflow as tf import numpy as np -import pybullet_envs.deep_mimic.learning.tf_util as TFUtil -import pybullet_utils.math_util as MathUtil -import pybullet_utils.mpi_util as MPIUtil -from pybullet_utils.logger import Logger +import pycram_bullet_envs.deep_mimic.learning.tf_util as TFUtil +import pycram_bullet_utils.math_util as MathUtil +import pycram_bullet_utils.mpi_util as MPIUtil +from pycram_bullet_utils.logger import Logger -from pybullet_envs.deep_mimic.learning.solvers.solver import Solver +from pycram_bullet_envs.deep_mimic.learning.solvers.solver import Solver class MPISolver(Solver): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/solver.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/solvers/solver.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/solvers/solver.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/solvers/solver.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py index e77c0bb533..0694afbd1e 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/tf_agent.py @@ -5,9 +5,9 @@ import tensorflow as tf from abc import abstractmethod -from pybullet_envs.deep_mimic.learning.rl_agent import RLAgent -from pybullet_utils.logger import Logger -from pybullet_envs.deep_mimic.learning.tf_normalizer import TFNormalizer +from pycram_bullet_envs.deep_mimic.learning.rl_agent import RLAgent +from pycram_bullet_utils.logger import Logger +from pycram_bullet_envs.deep_mimic.learning.tf_normalizer import TFNormalizer class TFAgent(RLAgent): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py index 80e8f76248..377b5fc976 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/tf_normalizer.py @@ -4,7 +4,7 @@ import tensorflow.compat.v1 as tf except Exception: import tensorflow as tf -from pybullet_envs.deep_mimic.learning.normalizer import Normalizer +from pycram_bullet_envs.deep_mimic.learning.normalizer import Normalizer class TFNormalizer(Normalizer): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_util.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/tf_util.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/learning/tf_util.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/learning/tf_util.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/README.md b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/README.md similarity index 84% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/README.md rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/README.md index 133215bce1..10b9316ca5 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/README.md +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/README.md @@ -21,7 +21,7 @@ $ python render_reference.py \ --draw_gt ``` -"--draw_gt" will draw the ground truth using **pybullet.addUserDebugLine()**, the right part of the humanoid lines will be red, other parts will be black. This is just for debugging, the render process will be much faster without the '--draw_gt' flag. +"--draw_gt" will draw the ground truth using **pycram_bullet.addUserDebugLine()**, the right part of the humanoid lines will be red, other parts will be black. This is just for debugging, the render process will be much faster without the '--draw_gt' flag. diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/camera.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/camera.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/camera.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/camera.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/deepmimic_json_generator.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/deepmimic_json_generator.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/deepmimic_json_generator.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/deepmimic_json_generator.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/h36m_dataset.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/h36m_dataset.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/h36m_dataset.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/h36m_dataset.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/humanoid.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/humanoid.py similarity index 87% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/humanoid.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/humanoid.py index c9f89c4a16..bf8518779e 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/humanoid.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/humanoid.py @@ -4,8 +4,8 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -from pybullet_utils.bullet_client import BulletClient -import pybullet_data +from pycram_bullet_utils.bullet_client import BulletClient +import pycram_bullet_data jointTypes = [ "JOINT_REVOLUTE", "JOINT_PRISMATIC", "JOINT_SPHERICAL", "JOINT_PLANAR", "JOINT_FIXED" @@ -193,26 +193,26 @@ def Slerp(self, frameFraction, frameData, frameDataNext, bullet_client): class Humanoid(object): - def __init__(self, pybullet_client, motion_data, baseShift): + def __init__(self, pycram_bullet_client, motion_data, baseShift): """Constructs a humanoid and reset it to the initial states. Args: - pybullet_client: The instance of BulletClient to manage different + pycram_bullet_client: The instance of BulletClient to manage different simulations. """ self._baseShift = baseShift - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self.kin_client = BulletClient( - pybullet_client.DIRECT + pycram_bullet_client.DIRECT ) # use SHARED_MEMORY for visual debugging, start a GUI physics server first self.kin_client.resetSimulation() - self.kin_client.setAdditionalSearchPath(pybullet_data.getDataPath()) + self.kin_client.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) self.kin_client.configureDebugVisualizer(self.kin_client.COV_ENABLE_Y_AXIS_UP, 1) self.kin_client.setGravity(0, -9.8, 0) self._motion_data = motion_data print("LOADING humanoid!") - self._humanoid = self._pybullet_client.loadURDF("humanoid/humanoid.urdf", [0, 0.9, 0], + self._humanoid = self._pycram_bullet_client.loadURDF("humanoid/humanoid.urdf", [0, 0.9, 0], globalScaling=0.25, useFixedBase=False) @@ -220,40 +220,40 @@ def __init__(self, pybullet_client, motion_data, baseShift): globalScaling=0.25, useFixedBase=False) - #print("human #joints=", self._pybullet_client.getNumJoints(self._humanoid)) + #print("human #joints=", self._pycram_bullet_client.getNumJoints(self._humanoid)) pose = HumanoidPose() for i in range(self._motion_data.NumFrames() - 1): frameData = self._motion_data._motion_data['Frames'][i] pose.PostProcessMotionData(frameData) - self._pybullet_client.resetBasePositionAndOrientation(self._humanoid, self._baseShift, + self._pycram_bullet_client.resetBasePositionAndOrientation(self._humanoid, self._baseShift, [0, 0, 0, 1]) - self._pybullet_client.changeDynamics(self._humanoid, -1, linearDamping=0, angularDamping=0) - for j in range(self._pybullet_client.getNumJoints(self._humanoid)): - ji = self._pybullet_client.getJointInfo(self._humanoid, j) - self._pybullet_client.changeDynamics(self._humanoid, j, linearDamping=0, angularDamping=0) - self._pybullet_client.changeVisualShape(self._humanoid, j, rgbaColor=[1, 1, 1, 1]) + self._pycram_bullet_client.changeDynamics(self._humanoid, -1, linearDamping=0, angularDamping=0) + for j in range(self._pycram_bullet_client.getNumJoints(self._humanoid)): + ji = self._pycram_bullet_client.getJointInfo(self._humanoid, j) + self._pycram_bullet_client.changeDynamics(self._humanoid, j, linearDamping=0, angularDamping=0) + self._pycram_bullet_client.changeVisualShape(self._humanoid, j, rgbaColor=[1, 1, 1, 1]) #print("joint[",j,"].type=",jointTypes[ji[2]]) #print("joint[",j,"].name=",ji[1]) - self._initial_state = self._pybullet_client.saveState() + self._initial_state = self._pycram_bullet_client.saveState() self._allowed_body_parts = [11, 14] self.Reset() def Reset(self): - self._pybullet_client.restoreState(self._initial_state) + self._pycram_bullet_client.restoreState(self._initial_state) self.SetSimTime(0) pose = self.InitializePoseFromMotionData() - self.ApplyPose(pose, True, True, self._humanoid, self._pybullet_client) + self.ApplyPose(pose, True, True, self._humanoid, self._pycram_bullet_client) def RenderReference(self, t): self.SetSimTime(t) frameData = self._motion_data._motion_data['Frames'][self._frame] frameDataNext = self._motion_data._motion_data['Frames'][self._frameNext] pose = HumanoidPose() - pose.Slerp(self._frameFraction, frameData, frameDataNext, self._pybullet_client) - self.ApplyPose(pose, True, True, self._humanoid, self._pybullet_client) + pose.Slerp(self._frameFraction, frameData, frameDataNext, self._pycram_bullet_client) + self.ApplyPose(pose, True, True, self._humanoid, self._pycram_bullet_client) def CalcCycleCount(self, simTime, cycleTime): phases = simTime / cycleTime @@ -290,7 +290,7 @@ def SetSimTime(self, t): def Terminates(self): #check if any non-allowed body part hits the ground terminates = False - pts = self._pybullet_client.getContactPoints() + pts = self._pycram_bullet_client.getContactPoints() for p in pts: part = -1 if (p[1] == self._humanoid): @@ -304,13 +304,13 @@ def Terminates(self): def BuildHeadingTrans(self, rootOrn): #align root transform 'forward' with world-space x axis - eul = self._pybullet_client.getEulerFromQuaternion(rootOrn) + eul = self._pycram_bullet_client.getEulerFromQuaternion(rootOrn) refDir = [1, 0, 0] - rotVec = self._pybullet_client.rotateVector(rootOrn, refDir) + rotVec = self._pycram_bullet_client.rotateVector(rootOrn, refDir) heading = math.atan2(-rotVec[2], rotVec[0]) heading2 = eul[1] #print("heading=",heading) - headingOrn = self._pybullet_client.getQuaternionFromAxisAngle([0, 1, 0], -heading) + headingOrn = self._pycram_bullet_client.getQuaternionFromAxisAngle([0, 1, 0], -heading) return headingOrn def GetPhase(self): @@ -323,25 +323,25 @@ def GetPhase(self): return phase def BuildOriginTrans(self): - rootPos, rootOrn = self._pybullet_client.getBasePositionAndOrientation(self._humanoid) + rootPos, rootOrn = self._pycram_bullet_client.getBasePositionAndOrientation(self._humanoid) #print("rootPos=",rootPos, " rootOrn=",rootOrn) invRootPos = [-rootPos[0], 0, -rootPos[2]] - #invOrigTransPos, invOrigTransOrn = self._pybullet_client.invertTransform(rootPos,rootOrn) + #invOrigTransPos, invOrigTransOrn = self._pycram_bullet_client.invertTransform(rootPos,rootOrn) headingOrn = self.BuildHeadingTrans(rootOrn) #print("headingOrn=",headingOrn) - headingMat = self._pybullet_client.getMatrixFromQuaternion(headingOrn) + headingMat = self._pycram_bullet_client.getMatrixFromQuaternion(headingOrn) #print("headingMat=",headingMat) - #dummy, rootOrnWithoutHeading = self._pybullet_client.multiplyTransforms([0,0,0],headingOrn, [0,0,0], rootOrn) - #dummy, invOrigTransOrn = self._pybullet_client.multiplyTransforms([0,0,0],rootOrnWithoutHeading, invOrigTransPos, invOrigTransOrn) + #dummy, rootOrnWithoutHeading = self._pycram_bullet_client.multiplyTransforms([0,0,0],headingOrn, [0,0,0], rootOrn) + #dummy, invOrigTransOrn = self._pycram_bullet_client.multiplyTransforms([0,0,0],rootOrnWithoutHeading, invOrigTransPos, invOrigTransOrn) - invOrigTransPos, invOrigTransOrn = self._pybullet_client.multiplyTransforms([0, 0, 0], + invOrigTransPos, invOrigTransOrn = self._pycram_bullet_client.multiplyTransforms([0, 0, 0], headingOrn, invRootPos, [0, 0, 0, 1]) #print("invOrigTransPos=",invOrigTransPos) #print("invOrigTransOrn=",invOrigTransOrn) - invOrigTransMat = self._pybullet_client.getMatrixFromQuaternion(invOrigTransOrn) + invOrigTransMat = self._pycram_bullet_client.getMatrixFromQuaternion(invOrigTransOrn) #print("invOrigTransMat =",invOrigTransMat ) return invOrigTransPos, invOrigTransOrn @@ -349,7 +349,7 @@ def InitializePoseFromMotionData(self): frameData = self._motion_data._motion_data['Frames'][self._frame] frameDataNext = self._motion_data._motion_data['Frames'][self._frameNext] pose = HumanoidPose() - pose.Slerp(self._frameFraction, frameData, frameDataNext, self._pybullet_client) + pose.Slerp(self._frameFraction, frameData, frameDataNext, self._pycram_bullet_client) return pose def ApplyAction(self, action): @@ -360,18 +360,18 @@ def ApplyAction(self, action): angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - pose._chestRot = self._pybullet_client.getQuaternionFromAxisAngle(axis, angle) + pose._chestRot = self._pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) #print("pose._chestRot=",pose._chestRot) angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - pose._neckRot = self._pybullet_client.getQuaternionFromAxisAngle(axis, angle) + pose._neckRot = self._pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - pose._rightHipRot = self._pybullet_client.getQuaternionFromAxisAngle(axis, angle) + pose._rightHipRot = self._pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] index += 1 @@ -380,12 +380,12 @@ def ApplyAction(self, action): angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - pose._rightAnkleRot = self._pybullet_client.getQuaternionFromAxisAngle(axis, angle) + pose._rightAnkleRot = self._pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - pose._rightShoulderRot = self._pybullet_client.getQuaternionFromAxisAngle(axis, angle) + pose._rightShoulderRot = self._pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] index += 1 @@ -394,7 +394,7 @@ def ApplyAction(self, action): angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - pose._leftHipRot = self._pybullet_client.getQuaternionFromAxisAngle(axis, angle) + pose._leftHipRot = self._pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] index += 1 @@ -403,12 +403,12 @@ def ApplyAction(self, action): angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - pose._leftAnkleRot = self._pybullet_client.getQuaternionFromAxisAngle(axis, angle) + pose._leftAnkleRot = self._pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] axis = [action[index + 1], action[index + 2], action[index + 3]] index += 4 - pose._leftShoulderRot = self._pybullet_client.getQuaternionFromAxisAngle(axis, angle) + pose._leftShoulderRot = self._pycram_bullet_client.getQuaternionFromAxisAngle(axis, angle) angle = action[index] index += 1 @@ -419,7 +419,7 @@ def ApplyAction(self, action): initializeBase = False initializeVelocities = False self.ApplyPose(pose, initializeBase, initializeVelocities, self._humanoid, - self._pybullet_client) + self._pycram_bullet_client) def ApplyPose(self, pose, initializeBase, initializeVelocities, humanoid, bc): #todo: get tunable parametes from a json file or from URDF (kd, maxForce) @@ -572,14 +572,14 @@ def GetState(self): stateVector.append(phase) rootTransPos, rootTransOrn = self.BuildOriginTrans() - basePos, baseOrn = self._pybullet_client.getBasePositionAndOrientation(self._humanoid) + basePos, baseOrn = self._pycram_bullet_client.getBasePositionAndOrientation(self._humanoid) - rootPosRel, dummy = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, + rootPosRel, dummy = self._pycram_bullet_client.multiplyTransforms(rootTransPos, rootTransOrn, basePos, [0, 0, 0, 1]) #print("!!!rootPosRel =",rootPosRel ) #print("rootTransPos=",rootTransPos) #print("basePos=",basePos) - localPos, localOrn = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, + localPos, localOrn = self._pycram_bullet_client.multiplyTransforms(rootTransPos, rootTransOrn, basePos, baseOrn) localPos = [ @@ -591,13 +591,13 @@ def GetState(self): self.pb2dmJoints = [0, 1, 2, 9, 10, 11, 3, 4, 5, 12, 13, 14, 6, 7, 8] - for pbJoint in range(self._pybullet_client.getNumJoints(self._humanoid)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._humanoid)): j = self.pb2dmJoints[pbJoint] #print("joint order:",j) - ls = self._pybullet_client.getLinkState(self._humanoid, j, computeForwardKinematics=True) + ls = self._pycram_bullet_client.getLinkState(self._humanoid, j, computeForwardKinematics=True) linkPos = ls[0] linkOrn = ls[1] - linkPosLocal, linkOrnLocal = self._pybullet_client.multiplyTransforms( + linkPosLocal, linkOrnLocal = self._pycram_bullet_client.multiplyTransforms( rootTransPos, rootTransOrn, linkPos, linkOrn) if (linkOrnLocal[3] < 0): linkOrnLocal = [-linkOrnLocal[0], -linkOrnLocal[1], -linkOrnLocal[2], -linkOrnLocal[3]] @@ -614,9 +614,9 @@ def GetState(self): stateVector.append(linkOrnLocal[1]) stateVector.append(linkOrnLocal[2]) - for pbJoint in range(self._pybullet_client.getNumJoints(self._humanoid)): + for pbJoint in range(self._pycram_bullet_client.getNumJoints(self._humanoid)): j = self.pb2dmJoints[pbJoint] - ls = self._pybullet_client.getLinkState(self._humanoid, j, computeLinkVelocity=True) + ls = self._pycram_bullet_client.getLinkState(self._humanoid, j, computeLinkVelocity=True) linkLinVel = ls[6] linkAngVel = ls[7] for l in linkLinVel: @@ -707,7 +707,7 @@ def GetReward(self): curr_vel_err = 0 w = mJointWeights[j] - simJointInfo = self._pybullet_client.getJointStateMultiDof(self._humanoid, j) + simJointInfo = self._pycram_bullet_client.getJointStateMultiDof(self._humanoid, j) #print("simJointInfo.pos=",simJointInfo[0]) #print("simJointInfo.vel=",simJointInfo[1]) @@ -721,8 +721,8 @@ def GetReward(self): curr_vel_err = velDiff * velDiff if (len(simJointInfo[0]) == 4): #print("quaternion diff") - diffQuat = self._pybullet_client.getDifferenceQuaternion(simJointInfo[0], kinJointInfo[0]) - axis, angle = self._pybullet_client.getAxisAngleFromQuaternion(diffQuat) + diffQuat = self._pycram_bullet_client.getDifferenceQuaternion(simJointInfo[0], kinJointInfo[0]) + axis, angle = self._pycram_bullet_client.getAxisAngleFromQuaternion(diffQuat) curr_pose_err = angle * angle diffVel = [ simJointInfo[1][0] - kinJointInfo[1][0], simJointInfo[1][1] - kinJointInfo[1][1], @@ -791,5 +791,5 @@ def GetReward(self): return reward def GetBasePosition(self): - pos, orn = self._pybullet_client.getBasePositionAndOrientation(self._humanoid) + pos, orn = self._pycram_bullet_client.getBasePositionAndOrientation(self._humanoid) return pos diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/inverse_kinematics.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/inverse_kinematics.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/inverse_kinematics.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/inverse_kinematics.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/mocap_dataset.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/mocap_dataset.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/mocap_dataset.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/mocap_dataset.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/quaternion.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/quaternion.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/quaternion.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/quaternion.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/render_reference.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/render_reference.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/render_reference.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/render_reference.py index 61fe8878d6..8f19a8abdb 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/render_reference.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/render_reference.py @@ -5,15 +5,15 @@ print('parent:', parentdir) -import pybullet_data -import pybullet +import pycram_bullet_data +import pycram_bullet import time import random -from pybullet_utils.bullet_client import BulletClient +from pycram_bullet_utils.bullet_client import BulletClient from deep_mimic.env.motion_capture_data import MotionCaptureData -# from pybullet_envs.deep_mimic.env.humanoid_stable_pd import HumanoidStablePd +# from pycram_bullet_envs.deep_mimic.env.humanoid_stable_pd import HumanoidStablePd from humanoid import Humanoid from humanoid import HumanoidPose @@ -21,7 +21,7 @@ from deepmimic_json_generator import * -import pybullet as p +import pycram_bullet as p import numpy as np import argparse @@ -85,8 +85,8 @@ def draw_ground_truth(coord_seq, frame, duration, shift): rot_seq_to_deepmimic_json(rot_seq=rot_seq, loop=loop, json_path=json_path) -bc = BulletClient(connection_mode=pybullet.GUI) -bc.setAdditionalSearchPath(pybullet_data.getDataPath()) +bc = BulletClient(connection_mode=pycram_bullet.GUI) +bc.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) bc.configureDebugVisualizer(bc.COV_ENABLE_Y_AXIS_UP, 1) bc.setGravity(0, -9.8, 0) motion = MotionCaptureData() diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/skeleton.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/skeleton.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/skeleton.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/skeleton.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/transformation.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/transformation.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/transformation.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mocap/transformation.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mpi_run.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mpi_run.py similarity index 83% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mpi_run.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mpi_run.py index 0d30f5d5ef..689d1fd47b 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/mpi_run.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mpi_run.py @@ -1,7 +1,7 @@ import sys import subprocess -from pybullet_utils.arg_parser import ArgParser -from pybullet_utils.logger import Logger +from pycram_bullet_utils.arg_parser import ArgParser +from pycram_bullet_utils.logger import Logger def main(): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/mpi_run_multiclip.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mpi_run_multiclip.py similarity index 84% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/mpi_run_multiclip.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mpi_run_multiclip.py index f580c4dbb6..fa188f0b13 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/mpi_run_multiclip.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/mpi_run_multiclip.py @@ -1,7 +1,7 @@ import sys import subprocess -from pybullet_utils.arg_parser import ArgParser -from pybullet_utils.logger import Logger +from pycram_bullet_utils.arg_parser import ArgParser +from pycram_bullet_utils.logger import Logger def main(): diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/plot_return.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/plot_return.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/plot_return.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/plot_return.py diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/testrl.py similarity index 81% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/testrl.py index e6be222772..62ea57edd7 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/testrl.py @@ -6,13 +6,13 @@ os.sys.path.insert(0, parentdir) print("parentdir=", parentdir) import json -from pybullet_envs.deep_mimic.learning.rl_world import RLWorld -from pybullet_envs.deep_mimic.learning.ppo_agent import PPOAgent +from pycram_bullet_envs.deep_mimic.learning.rl_world import RLWorld +from pycram_bullet_envs.deep_mimic.learning.ppo_agent import PPOAgent -import pybullet_data -from pybullet_utils.arg_parser import ArgParser -from pybullet_utils.logger import Logger -from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMimicEnv +import pycram_bullet_data +from pycram_bullet_utils.arg_parser import ArgParser +from pycram_bullet_utils.logger import Logger +from pycram_bullet_envs.deep_mimic.env.pycram_bullet_deep_mimic_env import PyBulletDeepMimicEnv import sys import random @@ -51,7 +51,7 @@ def build_arg_parser(args): if arg_file == '': arg_file = "run_humanoid3d_backflip_args.txt" if (arg_file != ''): - path = pybullet_data.getDataPath() + "/args/" + arg_file + path = pycram_bullet_data.getDataPath() + "/args/" + arg_file succ = arg_parser.load_file(path) Logger.print2(arg_file) assert succ, Logger.print2('Failed to load args from: ' + arg_file) @@ -74,7 +74,7 @@ def build_world(args, enable_draw): print("bodies=", bodies) int_output_path = arg_parser.parse_string("int_output_path") print("int_output_path=", int_output_path) - agent_files = pybullet_data.getDataPath() + "/" + arg_parser.parse_string("agent_files") + agent_files = pycram_bullet_data.getDataPath() + "/" + arg_parser.parse_string("agent_files") AGENT_TYPE_KEY = "AgentType" @@ -95,7 +95,7 @@ def build_world(args, enable_draw): if __name__ == '__main__': world = build_world(args, True) - while (world.env._pybullet_client.isConnected()): + while (world.env._pycram_bullet_client.isConnected()): timeStep = update_timestep time.sleep(timeStep) diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl_multiclip.py b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/testrl_multiclip.py similarity index 82% rename from examples/pybullet/gym/pybullet_envs/deep_mimic/testrl_multiclip.py rename to examples/pycram_bullet/gym/pybullet_envs/deep_mimic/testrl_multiclip.py index 65e8f45f40..4498fa7029 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl_multiclip.py +++ b/examples/pycram_bullet/gym/pybullet_envs/deep_mimic/testrl_multiclip.py @@ -7,13 +7,13 @@ os.sys.path.insert(0, parentdir) print("parentdir=", parentdir) import json -from pybullet_envs.deep_mimic.learning.rl_world import RLWorld -from pybullet_envs.deep_mimic.learning.ppo_agent import PPOAgent +from pycram_bullet_envs.deep_mimic.learning.rl_world import RLWorld +from pycram_bullet_envs.deep_mimic.learning.ppo_agent import PPOAgent -import pybullet_data -from pybullet_utils.arg_parser import ArgParser -from pybullet_utils.logger import Logger -from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env_multiclip import PyBulletDeepMimicEnvMultiClip +import pycram_bullet_data +from pycram_bullet_utils.arg_parser import ArgParser +from pycram_bullet_utils.logger import Logger +from pycram_bullet_envs.deep_mimic.env.pycram_bullet_deep_mimic_env_multiclip import PyBulletDeepMimicEnvMultiClip import sys import random @@ -50,7 +50,7 @@ def build_arg_parser(args): if arg_file == '': arg_file = "run_humanoid3d_backflip_args.txt" if (arg_file != ''): - path = pybullet_data.getDataPath() + "/args/" + arg_file + path = pycram_bullet_data.getDataPath() + "/args/" + arg_file if os.path.isfile(path): succ = arg_parser.load_file(path) else: @@ -76,7 +76,7 @@ def build_world(args, enable_draw): print("bodies=", bodies) int_output_path = arg_parser.parse_string("int_output_path") print("int_output_path=", int_output_path) - agent_files = pybullet_data.getDataPath() + "/" + arg_parser.parse_string("agent_files") + agent_files = pycram_bullet_data.getDataPath() + "/" + arg_parser.parse_string("agent_files") AGENT_TYPE_KEY = "AgentType" @@ -97,7 +97,7 @@ def build_world(args, enable_draw): if __name__ == '__main__': world = build_world(args, True) - while (world.env._pybullet_client.isConnected()): + while (world.env._pycram_bullet_client.isConnected()): timeStep = update_timestep time.sleep(timeStep) diff --git a/examples/pybullet/gym/pybullet_envs/env_bases.py b/examples/pycram_bullet/gym/pybullet_envs/env_bases.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/env_bases.py rename to examples/pycram_bullet/gym/pybullet_envs/env_bases.py index ac7c2c067a..4ddbe6dc12 100644 --- a/examples/pybullet/gym/pybullet_envs/env_bases.py +++ b/examples/pycram_bullet/gym/pybullet_envs/env_bases.py @@ -1,9 +1,9 @@ import gym, gym.spaces, gym.utils, gym.utils.seeding import numpy as np -import pybullet +import pycram_bullet import os -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client from pkg_resources import parse_version @@ -53,7 +53,7 @@ def reset(self): self.ownsPhysicsClient = True if self.isRender: - self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI) + self._p = bullet_client.BulletClient(connection_mode=pycram_bullet.GUI) else: self._p = bullet_client.BulletClient() self._p.resetSimulation() @@ -71,7 +71,7 @@ def reset(self): except: pass self.physicsClientId = self._p._client - self._p.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0) + self._p.configureDebugVisualizer(pycram_bullet.COV_ENABLE_GUI, 0) if self.scene is None: self.scene = self.create_single_player_scene(self._p) @@ -121,7 +121,7 @@ def render(self, mode='human', close=False): height=self._render_height, viewMatrix=view_matrix, projectionMatrix=proj_matrix, - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) self._p.configureDebugVisualizer(self._p.COV_ENABLE_SINGLE_STEP_RENDERING,1) else: diff --git a/examples/pybullet/gym/pybullet_envs/examples/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/examples/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/examples/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py b/examples/pycram_bullet/gym/pybullet_envs/examples/batchsim3.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/examples/batchsim3.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/batchsim3.py index 962b2a2065..04ab16b26a 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/batchsim3.py @@ -4,8 +4,8 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -from pybullet_utils import bullet_client -from pybullet_envs.examples import panda_sim +from pycram_bullet_utils import bullet_client +from pycram_bullet_envs.examples import panda_sim import time @@ -30,8 +30,8 @@ def ExploreWorker(rank, num_processes, childPipe, args): print("hi:",rank, " out of ", num_processes) - import pybullet as op1 - import pybullet_data as pd + import pycram_bullet as op1 + import pycram_bullet_data as pd logName="" p1=0 n = 0 diff --git a/examples/pybullet/gym/pybullet_envs/examples/dominoes.py b/examples/pycram_bullet/gym/pybullet_envs/examples/dominoes.py similarity index 88% rename from examples/pybullet/gym/pybullet_envs/examples/dominoes.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/dominoes.py index c3e645c4b1..d909efb23f 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/dominoes.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/dominoes.py @@ -1,10 +1,10 @@ -import pybullet_data as pd -import pybullet_utils as pu -import pybullet -from pybullet_utils import bullet_client as bc +import pycram_bullet_data as pd +import pycram_bullet_utils as pu +import pycram_bullet +from pycram_bullet_utils import bullet_client as bc import time -p = bc.BulletClient(connection_mode=pybullet.GUI) +p = bc.BulletClient(connection_mode=pycram_bullet.GUI) p.setAdditionalSearchPath(pd.getDataPath()) p.loadURDF("plane_transparent.urdf", useMaximalCoordinates=True) p #.setPhysicsEngineParameter(numSolverIterations=10, fixedTimeStep=0.01) diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py index 671cf0e8e6..e760ff64c2 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py @@ -6,7 +6,7 @@ os.sys.path.insert(0, parentdir) import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py index be19716779..ef5c146f1b 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py @@ -6,7 +6,7 @@ import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py index f341aaf003..a9265ffccb 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py @@ -6,7 +6,7 @@ import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py index 9b04c44a28..0e22aecd0f 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py @@ -6,7 +6,7 @@ import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py index cad0ca566a..772ca88385 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py @@ -6,7 +6,7 @@ import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs import os.path import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py index e0227fe1da..a0088c75b3 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py @@ -6,7 +6,7 @@ import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py index 82ed973298..dd4534454e 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py @@ -6,7 +6,7 @@ import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py index fc612f393c..ef100c71ad 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py @@ -6,7 +6,7 @@ import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py index de71b9770d..91b6e92cb3 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py @@ -6,7 +6,7 @@ import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/kukaCamGymEnvTest.py b/examples/pycram_bullet/gym/pybullet_envs/examples/kukaCamGymEnvTest.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/examples/kukaCamGymEnvTest.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/kukaCamGymEnvTest.py index 6cf9909cb2..92691b6cc8 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/kukaCamGymEnvTest.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/kukaCamGymEnvTest.py @@ -4,7 +4,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv +from pycram_bullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py b/examples/pycram_bullet/gym/pybullet_envs/examples/kukaGymEnvTest.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/kukaGymEnvTest.py index 818bdd0ab8..842e6a2c2d 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/kukaGymEnvTest.py @@ -4,7 +4,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv +from pycram_bullet_envs.bullet.kukaGymEnv import KukaGymEnv import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest2.py b/examples/pycram_bullet/gym/pybullet_envs/examples/kukaGymEnvTest2.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest2.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/kukaGymEnvTest2.py index d94702cf00..a0eae551a8 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest2.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/kukaGymEnvTest2.py @@ -4,7 +4,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv +from pycram_bullet_envs.bullet.kukaGymEnv import KukaGymEnv import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/kuka_setup.py b/examples/pycram_bullet/gym/pybullet_envs/examples/kuka_setup.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/examples/kuka_setup.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/kuka_setup.py index 1fcda0832a..5966d76321 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/kuka_setup.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/kuka_setup.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data #cid = p.connect(p.UDP,"192.168.86.100") cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation() objects = [ diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py b/examples/pycram_bullet/gym/pybullet_envs/examples/loadpanda.py similarity index 75% rename from examples/pybullet/gym/pybullet_robots/panda/loadpanda.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/loadpanda.py index 08057626c1..688dd94af7 100644 --- a/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/loadpanda.py @@ -1,9 +1,9 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import math import time import numpy as np -import pybullet_robots.panda.panda_sim as panda_sim +from pycram_bullet_envs.examples import panda_sim p.connect(p.GUI) p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) diff --git a/examples/pybullet/gym/pybullet_envs/examples/loadxarm.py b/examples/pycram_bullet/gym/pybullet_envs/examples/loadxarm.py similarity index 83% rename from examples/pybullet/gym/pybullet_envs/examples/loadxarm.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/loadxarm.py index 9fb26f80d2..a16528a87d 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/loadxarm.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/loadxarm.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import math import time import numpy as np diff --git a/examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py b/examples/pycram_bullet/gym/pybullet_envs/examples/mini_cheetah_test.py similarity index 90% rename from examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/mini_cheetah_test.py index c30c981ffd..5730dfabc7 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/mini_cheetah_test.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import time p.connect(p.GUI) diff --git a/examples/pybullet/gym/pybullet_envs/examples/minitaur_gym_env_example.py b/examples/pycram_bullet/gym/pybullet_envs/examples/minitaur_gym_env_example.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/examples/minitaur_gym_env_example.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/minitaur_gym_env_example.py index 06337da409..0b02c1cada 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/minitaur_gym_env_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/minitaur_gym_env_example.py @@ -9,9 +9,9 @@ import math import numpy as np -from pybullet_envs.bullet import minitaur_gym_env +from pycram_bullet_envs.bullet import minitaur_gym_env import argparse -from pybullet_envs.bullet import minitaur_env_randomizer +from pycram_bullet_envs.bullet import minitaur_env_randomizer def ResetPoseExample(): diff --git a/examples/pybullet/gym/pybullet_envs/examples/panda_sim.py b/examples/pycram_bullet/gym/pybullet_envs/examples/panda_sim.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/examples/panda_sim.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/panda_sim.py diff --git a/examples/pybullet/gym/pybullet_envs/examples/racecarGymEnvTest.py b/examples/pycram_bullet/gym/pybullet_envs/examples/racecarGymEnvTest.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/examples/racecarGymEnvTest.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/racecarGymEnvTest.py index 3e4488e304..bf387aa3e4 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/racecarGymEnvTest.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/racecarGymEnvTest.py @@ -4,7 +4,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv +from pycram_bullet_envs.bullet.racecarGymEnv import RacecarGymEnv isDiscrete = False diff --git a/examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py b/examples/pycram_bullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py index 4d529c4765..944cb33a5f 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py @@ -5,7 +5,7 @@ os.sys.path.insert(0, parentdir) isDiscrete = False -from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv +from pycram_bullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv def main(): diff --git a/examples/pybullet/gym/pybullet_envs/examples/runServer.py b/examples/pycram_bullet/gym/pybullet_envs/examples/runServer.py similarity index 80% rename from examples/pybullet/gym/pybullet_envs/examples/runServer.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/runServer.py index 054fe66a4e..9a98556915 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/runServer.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/runServer.py @@ -5,12 +5,12 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -import pybullet_data -import pybullet as p +import pycram_bullet_data +import pycram_bullet as p import time p.connect(p.GUI_SERVER) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) while (1): #this is a no-op command, to allow GUI updates on Mac OSX (main thread) diff --git a/examples/pybullet/gym/pybullet_envs/examples/testEnv.py b/examples/pycram_bullet/gym/pybullet_envs/examples/testEnv.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/examples/testEnv.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/testEnv.py index 6c550fe4fa..2bfcda3e1a 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/testEnv.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/testEnv.py @@ -3,10 +3,10 @@ currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -import pybullet_envs +import pycram_bullet_envs import gym import argparse -import pybullet as p +import pycram_bullet as p def test(args): diff --git a/examples/pybullet/gym/pybullet_envs/examples/testMJCF.py b/examples/pycram_bullet/gym/pybullet_envs/examples/testMJCF.py similarity index 86% rename from examples/pybullet/gym/pybullet_envs/examples/testMJCF.py rename to examples/pycram_bullet/gym/pybullet_envs/examples/testMJCF.py index 76a889c6a4..3ad1fa1ccb 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/testMJCF.py +++ b/examples/pycram_bullet/gym/pybullet_envs/examples/testMJCF.py @@ -4,14 +4,14 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data import time def test(args): p.connect(p.GUI) - p.setAdditionalSearchPath(pybullet_data.getDataPath()) + p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) fileName = os.path.join("mjcf", args.mjcf) print("fileName") print(fileName) diff --git a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py b/examples/pycram_bullet/gym/pybullet_envs/gym_locomotion_envs.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py rename to examples/pycram_bullet/gym/pybullet_envs/gym_locomotion_envs.py index ba22fa61c9..5269095ca6 100644 --- a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py +++ b/examples/pycram_bullet/gym/pybullet_envs/gym_locomotion_envs.py @@ -1,7 +1,7 @@ from .scene_stadium import SinglePlayerStadiumScene from .env_bases import MJCFBaseBulletEnv import numpy as np -import pybullet +import pycram_bullet from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid, HumanoidFlagrun, HumanoidFlagrunHarder @@ -30,13 +30,13 @@ def reset(self): self._p.restoreState(self.stateId) r = MJCFBaseBulletEnv.reset(self) - self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0) + self._p.configureDebugVisualizer(pycram_bullet.COV_ENABLE_RENDERING, 0) self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene( self._p, self.stadium_scene.ground_plane_mjcf) self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in self.foot_ground_object_names]) - self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1) + self._p.configureDebugVisualizer(pycram_bullet.COV_ENABLE_RENDERING, 1) if (self.stateId < 0): self.stateId = self._p.saveState() #print("saving state self.stateId:",self.stateId) diff --git a/examples/pybullet/gym/pybullet_envs/gym_manipulator_envs.py b/examples/pycram_bullet/gym/pybullet_envs/gym_manipulator_envs.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/gym_manipulator_envs.py rename to examples/pycram_bullet/gym/pybullet_envs/gym_manipulator_envs.py diff --git a/examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py b/examples/pycram_bullet/gym/pybullet_envs/gym_pendulum_envs.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py rename to examples/pycram_bullet/gym/pybullet_envs/gym_pendulum_envs.py index 310874de82..35fd06905c 100644 --- a/examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py +++ b/examples/pycram_bullet/gym/pybullet_envs/gym_pendulum_envs.py @@ -3,7 +3,7 @@ from robot_pendula import InvertedPendulum, InvertedPendulumSwingup, InvertedDoublePendulum import gym, gym.spaces, gym.utils, gym.utils.seeding import numpy as np -import pybullet +import pycram_bullet import os, sys diff --git a/examples/pybullet/gym/pybullet_envs/kerasrl_utils.py b/examples/pycram_bullet/gym/pybullet_envs/kerasrl_utils.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/kerasrl_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/kerasrl_utils.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras_lstm.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras_lstm.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras_lstm.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras_lstm.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.csv b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.csv similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.csv rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.csv diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.006.csv b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.006.csv similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.006.csv rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.006.csv diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.006.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.006.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.006.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.006.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.01.csv b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.01.csv similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.01.csv rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.01.csv diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.01.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.01.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.01.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.01.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.csv b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.csv similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.csv rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.csv diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py index 39108d003e..36ed0c9bed 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py @@ -7,8 +7,8 @@ from __future__ import print_function import tf.compat.v1 as tf -from pybullet_envs.minitaur.envs import minitaur_raibert_controller -from pybullet_envs.minitaur.envs import minitaur_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur_raibert_controller +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env flags = tf.app.flags FLAGS = tf.app.flags.FLAGS diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/proto2csv.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/proto2csv.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/proto2csv.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/proto2csv.py index 08c25524da..947ab1fb4d 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/proto2csv.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/proto2csv.py @@ -8,7 +8,7 @@ import tf.compat.v1 as tf import argparse import numpy -from pybullet_envs.minitaur.envs import minitaur_logging +from pycram_bullet_envs.minitaur.envs import minitaur_logging flags = tf.app.flags FLAGS = tf.app.flags.FLAGS diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/requirements.txt b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/requirements.txt similarity index 70% rename from examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/requirements.txt rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/requirements.txt index 3304e50c03..6cc2499c32 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/requirements.txt +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/actuatornet/requirements.txt @@ -1,4 +1,4 @@ -pybullet +pycram_bullet tensorflow gym pandas diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_height_estimator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_height_estimator.py similarity index 93% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_height_estimator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_height_estimator.py index 3838c74aa2..e48349a108 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_height_estimator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_height_estimator.py @@ -9,7 +9,7 @@ import gin -from pybullet_envs.minitaur.agents.baseline_controller import state_estimator +from pycram_bullet_envs.minitaur.agents.baseline_controller import state_estimator @gin.configurable @@ -54,7 +54,7 @@ def update(self, current_time): world_toe_poses = [] for toe_p in local_toe_poses: world_toe_poses.append( - self._robot.pybullet_client.multiplyTransforms( + self._robot.pycram_bullet_client.multiplyTransforms( positionA=(0, 0, 0), orientationA=self._robot.base_orientation_quaternion, positionB=toe_p, diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_velocity_estimator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_velocity_estimator.py similarity index 89% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_velocity_estimator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_velocity_estimator.py index 609f83271f..95b0b1a03d 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_velocity_estimator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_velocity_estimator.py @@ -9,8 +9,8 @@ import gin import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import state_estimator -from pybullet_envs.minitaur.robots.safety.python import moving_window_filter +from pycram_bullet_envs.minitaur.agents.baseline_controller import state_estimator +from pycram_bullet_envs.minitaur.robots.safety.python import moving_window_filter _DEFAULT_WINDOW_SIZE = 20 @@ -74,10 +74,10 @@ def update(self, current_time): self._com_velocity_world_frame = np.array((vx, vy, vz)) base_orientation = self._robot.base_orientation_quaternion - _, inverse_rotation = self._robot.pybullet_client.invertTransform( + _, inverse_rotation = self._robot.pycram_bullet_client.invertTransform( (0, 0, 0), base_orientation) self._com_velocity_body_yaw_aligned_frame, _ = ( - self._robot.pybullet_client.multiplyTransforms( + self._robot.pycram_bullet_client.multiplyTransforms( (0, 0, 0), inverse_rotation, self._com_velocity_world_frame, (0, 0, 0, 1))) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py index 69af3189ae..db62766d26 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py @@ -9,7 +9,7 @@ import gin -from pybullet_envs.minitaur.agents.baseline_controller import gait_generator +from pycram_bullet_envs.minitaur.agents.baseline_controller import gait_generator LAIKAGO_STANDING = ( gait_generator.LegState.STANCE, diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/foot_stepper.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/foot_stepper.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/foot_stepper.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/foot_stepper.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/gait_generator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/gait_generator.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/gait_generator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/gait_generator.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/imu_based_com_velocity_estimator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/imu_based_com_velocity_estimator.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/imu_based_com_velocity_estimator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/imu_based_com_velocity_estimator.py index 4caea0906b..5eab3ea145 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/imu_based_com_velocity_estimator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/imu_based_com_velocity_estimator.py @@ -10,10 +10,10 @@ import gin import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import state_estimator -from pybullet_envs.minitaur.agents.baseline_controller import time_based_moving_window_filter -from pybullet_envs.minitaur.envs_v2.sensors import accelerometer_sensor -from pybullet_envs.minitaur.envs_v2.sensors import imu_sensor +from pycram_bullet_envs.minitaur.agents.baseline_controller import state_estimator +from pycram_bullet_envs.minitaur.agents.baseline_controller import time_based_moving_window_filter +from pycram_bullet_envs.minitaur.envs_v2.sensors import accelerometer_sensor +from pycram_bullet_envs.minitaur.envs_v2.sensors import imu_sensor _DEFAULT_VELOCITY_FILTER_WINDOW = 0.2 _DEFAULT_GYRO_FILTER_WINDOW = 0.1 @@ -178,10 +178,10 @@ def update(self, current_time): # The yaw angle is not used here because reliably estimating the yaw angle # of the robot is in general difficult. This leads to a body yaw aligned # inertia frame for the estimated velocity. - yaw_aligned_base_orientation = self._robot.pybullet_client.getQuaternionFromEuler( + yaw_aligned_base_orientation = self._robot.pycram_bullet_client.getQuaternionFromEuler( (filtered_gyroscope_reading[0], filtered_gyroscope_reading[1], 0.0)) - rot_mat = self._robot.pybullet_client.getMatrixFromQuaternion( + rot_mat = self._robot.pycram_bullet_client.getMatrixFromQuaternion( yaw_aligned_base_orientation) rot_mat = np.array(rot_mat).reshape((_STATE_DIMENSION, _STATE_DIMENSION)) calibrated_acc = rot_mat.dot(sensor_acc) + np.array(_GRAVITY) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/leg_controller.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/leg_controller.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/leg_controller.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/leg_controller.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller.py similarity index 90% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller.py index d9bca69f52..27676c803f 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller.py @@ -7,9 +7,9 @@ import time from typing import Any, Callable -from pybullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib -from pybullet_envs.minitaur.agents.baseline_controller import leg_controller as leg_controller_lib -from pybullet_envs.minitaur.agents.baseline_controller import state_estimator as state_estimator_lib +from pycram_bullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib +from pycram_bullet_envs.minitaur.agents.baseline_controller import leg_controller as leg_controller_lib +from pycram_bullet_envs.minitaur.agents.baseline_controller import state_estimator as state_estimator_lib class LocomotionController(object): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_example.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_example.py index fd867950d6..c2b4b13418 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_example.py @@ -11,9 +11,9 @@ import scipy.interpolate -from pybullet_envs.minitaur.agents.baseline_controller import locomotion_controller_setup -from pybullet_envs.minitaur.envs_v2 import env_loader -from pybullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.agents.baseline_controller import locomotion_controller_setup +from pycram_bullet_envs.minitaur.envs_v2 import env_loader +from pycram_bullet_envs.minitaur.robots import robot_config FLAGS = flags.FLAGS flags.DEFINE_boolean("run_on_robot", False, diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_in_scenario_set_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_in_scenario_set_example.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_in_scenario_set_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_in_scenario_set_example.py index 71fefa7b56..42c9b9f68c 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_in_scenario_set_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_in_scenario_set_example.py @@ -12,13 +12,13 @@ import numpy as np import scipy.interpolate -from pybullet_envs.minitaur.agents.baseline_controller import locomotion_controller_setup -from pybullet_envs.minitaur.envs_v2 import env_loader +from pycram_bullet_envs.minitaur.agents.baseline_controller import locomotion_controller_setup +from pycram_bullet_envs.minitaur.envs_v2 import env_loader FLAGS = flags.FLAGS SCENARIO_SET_CONFIG = """ -import pybullet_envs.minitaur.envs_v2.scenarios.locomotion_simple_scenario_set +import pycram_bullet_envs.minitaur.envs_v2.scenarios.locomotion_simple_scenario_set include "google3/robotics/reinforcement_learning/minitaur/envs_v2/scenarios/default_scenario_set.gin" diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_setup.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_setup.py similarity index 84% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_setup.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_setup.py index afaed6cb7e..087e269ffb 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_setup.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_setup.py @@ -3,16 +3,16 @@ import gin import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import com_velocity_estimator -from pybullet_envs.minitaur.agents.baseline_controller import imu_based_com_velocity_estimator -from pybullet_envs.minitaur.agents.baseline_controller import locomotion_controller -from pybullet_envs.minitaur.agents.baseline_controller import openloop_gait_generator -from pybullet_envs.minitaur.agents.baseline_controller import raibert_swing_leg_controller -from pybullet_envs.minitaur.agents.baseline_controller import torque_stance_leg_controller -#from pybullet_envs.minitaur.envs.env_randomizers import minitaur_push_randomizer -from pybullet_envs.minitaur.envs.env_randomizers import minitaur_push_randomizer -from pybullet_envs.minitaur.robots import robot_config -import pybullet_data as pd +from pycram_bullet_envs.minitaur.agents.baseline_controller import com_velocity_estimator +from pycram_bullet_envs.minitaur.agents.baseline_controller import imu_based_com_velocity_estimator +from pycram_bullet_envs.minitaur.agents.baseline_controller import locomotion_controller +from pycram_bullet_envs.minitaur.agents.baseline_controller import openloop_gait_generator +from pycram_bullet_envs.minitaur.agents.baseline_controller import raibert_swing_leg_controller +from pycram_bullet_envs.minitaur.agents.baseline_controller import torque_stance_leg_controller +#from pycram_bullet_envs.minitaur.envs.env_randomizers import minitaur_push_randomizer +from pycram_bullet_envs.minitaur.envs.env_randomizers import minitaur_push_randomizer +from pycram_bullet_envs.minitaur.robots import robot_config +import pycram_bullet_data as pd CONFIG_FILE = (pd.getDataPath()+"/configs_v2/base/laikago_reactive.gin") @@ -45,8 +45,8 @@ def load_sim_config(render=True): gin.bind_parameter("laikago_v2.Laikago.action_repeat", action_repeat) # Control latency is NOT modeled properly for inverse kinematics and - # jacobians, as we are directly calling the pybullet API. We will try to fix - # this by loading a separate pybullet instance, set the pose and joint + # jacobians, as we are directly calling the pycram_bullet API. We will try to fix + # this by loading a separate pycram_bullet instance, set the pose and joint # angles which has latency in them, and then run the jacobian/IK. gin.bind_parameter("laikago_v2.Laikago.motor_control_mode", robot_config.MotorControlMode.HYBRID) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller.py index 82ddebcab7..62825ec14a 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller.py @@ -9,8 +9,8 @@ import gin import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import minitaur_raibert_controller_utils -from pybullet_envs.minitaur.envs.utilities import minitaur_pose_utils +from pycram_bullet_envs.minitaur.agents.baseline_controller import minitaur_raibert_controller_utils +from pycram_bullet_envs.minitaur.envs.utilities import minitaur_pose_utils LEFT_FRONT_LEG_ID = 0 LEFT_HIND_LEG_ID = 1 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller_utils.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller_utils.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/model_predictive_control.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/model_predictive_control.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/model_predictive_control.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/model_predictive_control.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/multi_state_estimator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/multi_state_estimator.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/multi_state_estimator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/multi_state_estimator.py index 60f8cd86b1..082bc2a8b9 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/multi_state_estimator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/multi_state_estimator.py @@ -8,7 +8,7 @@ import gin -from pybullet_envs.minitaur.agents.baseline_controller import state_estimator +from pycram_bullet_envs.minitaur.agents.baseline_controller import state_estimator @gin.configurable diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/openloop_gait_generator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/openloop_gait_generator.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/openloop_gait_generator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/openloop_gait_generator.py index c8696dc27e..e89461d3c2 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/openloop_gait_generator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/openloop_gait_generator.py @@ -11,7 +11,7 @@ import gin import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import gait_generator +from pycram_bullet_envs.minitaur.agents.baseline_controller import gait_generator _DEFAULT_INITIAL_LEG_STATE = ( gait_generator.LegState.STANCE, diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/raibert_swing_leg_controller.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/raibert_swing_leg_controller.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/raibert_swing_leg_controller.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/raibert_swing_leg_controller.py index aad4b9b67b..1ca93bbfdc 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/raibert_swing_leg_controller.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/raibert_swing_leg_controller.py @@ -11,8 +11,8 @@ import gin import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib -from pybullet_envs.minitaur.agents.baseline_controller import leg_controller +from pycram_bullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib +from pycram_bullet_envs.minitaur.agents.baseline_controller import leg_controller # The position correction coefficients in Raibert's formula. _KP = 0.025 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/state_estimator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/state_estimator.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/state_estimator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/state_estimator.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/static_gait_controller.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/static_gait_controller.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/static_gait_controller.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/static_gait_controller.py index eb4ccdd1cc..b1ff8ddeb6 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/static_gait_controller.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/static_gait_controller.py @@ -3,7 +3,7 @@ import gin import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import foot_stepper +from pycram_bullet_envs.minitaur.agents.baseline_controller import foot_stepper toe_pos_local_ref = np.array([[0.1478, -0.11459, -0.45576], [0.1478, 0.11688, -0.45576], @@ -19,13 +19,13 @@ def __init__(self, robot): self._robot = robot self._toe_ids = tuple(robot.urdf_loader.get_end_effector_id_dict().values()) self._wait_count = 0 - self._stepper = foot_stepper.FootStepper(self._robot.pybullet_client, + self._stepper = foot_stepper.FootStepper(self._robot.pycram_bullet_client, self._toe_ids, toe_pos_local_ref) def act(self, observation): """Computes actions based on observations.""" del observation - p = self._robot.pybullet_client + p = self._robot.pycram_bullet_client quadruped = self._robot.robot_id step_input = foot_stepper.StepInput() ls = p.getLinkStates( diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/time_based_moving_window_filter.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/time_based_moving_window_filter.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/time_based_moving_window_filter.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/time_based_moving_window_filter.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/torque_stance_leg_controller.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/torque_stance_leg_controller.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/torque_stance_leg_controller.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/torque_stance_leg_controller.py index 87ebed4587..8bb66bc105 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/torque_stance_leg_controller.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/baseline_controller/torque_stance_leg_controller.py @@ -12,9 +12,9 @@ import gin import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib -from pybullet_envs.minitaur.agents.baseline_controller import leg_controller -#from pybullet_envs.minitaur.agents.baseline_controller.convex_mpc.python import convex_mpc +from pycram_bullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib +from pycram_bullet_envs.minitaur.agents.baseline_controller import leg_controller +#from pycram_bullet_envs.minitaur.agents.baseline_controller.convex_mpc.python import convex_mpc #from google3.util.task.python import error try: diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/algorithm.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/algorithm.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/algorithm.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/algorithm.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/memory.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/memory.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/memory.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/memory.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/normalize.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/normalize.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/normalize.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/normalize.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/utility.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/utility.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/ppo/utility.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/ppo/utility.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/configs.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/configs.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/configs.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/configs.py index 1ea65948bf..36824fa485 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/configs.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/configs.py @@ -19,8 +19,8 @@ # pylint: disable=unused-variable -from pybullet_envs.minitaur.agents import ppo -from pybullet_envs.minitaur.agents.scripts import networks +from pycram_bullet_envs.minitaur.agents import ppo +from pycram_bullet_envs.minitaur.agents.scripts import networks def default(): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/networks.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/networks.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/networks.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/networks.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/train.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/train.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/train.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/train.py index 5b0f729e92..03cfaa4a6c 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/train.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/train.py @@ -29,9 +29,9 @@ import gym import tf.compat.v1 as tf -from pybullet_envs.minitaur.agents import tools -from pybullet_envs.minitaur.agents.scripts import configs -from pybullet_envs.minitaur.agents.scripts import utility +from pycram_bullet_envs.minitaur.agents import tools +from pycram_bullet_envs.minitaur.agents.scripts import configs +from pycram_bullet_envs.minitaur.agents.scripts import utility def _create_environment(config): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/train_ppo_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/train_ppo_test.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/train_ppo_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/train_ppo_test.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py index e30e38be23..b893f3554f 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py @@ -24,7 +24,7 @@ import ruamel.yaml as yaml import tf.compat.v1 as tf -from pybullet_envs.minitaur.agents import tools +from pycram_bullet_envs.minitaur.agents import tools def define_simulation_graph(batch_env, algo_cls, config): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/visualize.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/visualize.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/visualize.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/visualize.py index a05fc7ac6c..f9ca49d3bd 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/visualize.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/scripts/visualize.py @@ -29,8 +29,8 @@ import gym import tf.compat.v1 as tf -from pybullet_envs.minitaur.agents import tools -from pybullet_envs.minitaur.agents.scripts import utility +from pycram_bullet_envs.minitaur.agents import tools +from pycram_bullet_envs.minitaur.agents.scripts import utility def _create_environment(config, outdir): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict_test.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict_test.py index 14b0150d34..ef18b9b86a 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict_test.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict_test.py @@ -19,7 +19,7 @@ import tf.compat.v1 as tf -from pybullet_envs.minitaur.agents.tools import attr_dict +from pycram_bullet_envs.minitaur.agents.tools import attr_dict class AttrDictTest(tf.test.TestCase): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/batch_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/batch_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/batch_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/batch_env.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/count_weights.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/count_weights.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/count_weights.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/count_weights.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/count_weights_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/count_weights_test.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/count_weights_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/count_weights_test.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_batch_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_batch_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_batch_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_batch_env.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_env.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/loop.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/loop.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/loop.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/loop.py index 05a9a8ceae..8718103cf9 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/loop.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/loop.py @@ -22,7 +22,7 @@ import tf.compat.v1 as tf -from pybullet_envs.minitaur.agents.tools import streaming_mean +from pycram_bullet_envs.minitaur.agents.tools import streaming_mean _Phase = collections.namedtuple( 'Phase', 'name, writer, op, batch, steps, feed, report_every, log_every,' diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/loop_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/loop_test.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/loop_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/loop_test.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/mock_algorithm.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/mock_algorithm.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/mock_algorithm.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/mock_algorithm.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/mock_environment.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/mock_environment.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/mock_environment.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/mock_environment.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/simulate.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/simulate.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/simulate.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/simulate.py index 12254605e9..fa7895d988 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/simulate.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/simulate.py @@ -19,7 +19,7 @@ import tf.compat.v1 as tf -from pybullet_envs.minitaur.agents.tools import streaming_mean +from pycram_bullet_envs.minitaur.agents.tools import streaming_mean def simulate(batch_env, algo, log=True, reset=False): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/simulate_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/simulate_test.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/simulate_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/simulate_test.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/streaming_mean.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/streaming_mean.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/streaming_mean.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/streaming_mean.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/wrappers.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/wrappers.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/wrappers.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/wrappers.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/wrappers_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/wrappers_test.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/wrappers_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/tools/wrappers_test.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/controller_simple.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/controller_simple.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/controller_simple.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/controller_simple.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_inplace.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_inplace.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_inplace.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_inplace.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_simple.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_simple.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_simple.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_simple.py index c63884d811..28efb349e8 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_simple.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_simple.py @@ -22,7 +22,7 @@ import math import numpy as np import gin -from pybullet_envs.minitaur.agents.trajectory_generator import controller_simple +from pycram_bullet_envs.minitaur.agents.trajectory_generator import controller_simple PHASE_LOWER_BOUND = 0.0 PHASE_UPPER_BOUND = 1.0 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/README.md similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/README.md index 6124264c98..fbcecc570f 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/README.md @@ -1,6 +1,6 @@ # Simulated Minitaur Environments -This folder contains a number of simulated Minitaur environments implemented using pybullet. +This folder contains a number of simulated Minitaur environments implemented using pycram_bullet. The following two environments are used in the RSS paper "[Sim-to-Real: Learning Agile Locomotion For Quadruped Robots](https://arxiv.org/abs/1804.10332)": * Galloping environment: minitaur_reactive_env.py diff --git a/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/__init__.py new file mode 100644 index 0000000000..8f2065c49b --- /dev/null +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/__init__.py @@ -0,0 +1,8 @@ +from pycram_bullet_envs.minitaur.envs.minitaur_alternating_legs_env import MinitaurAlternatingLegsEnv +from pycram_bullet_envs.minitaur.envs.minitaur_ball_gym_env import MinitaurBallGymEnv +#from pycram_bullet_envs.minitaur.envs.minitaur_randomize_terrain_gym_env import MinitaurRandomizeTerrainGymEnv +from pycram_bullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv +from pycram_bullet_envs.minitaur.envs.minitaur_stand_gym_env import MinitaurStandGymEnv +from pycram_bullet_envs.minitaur.envs.minitaur_trotting_env import MinitaurTrottingEnv +from pycram_bullet_envs.minitaur.envs.minitaur_four_leg_stand_env import MinitaurFourLegStandEnv +from pycram_bullet_envs.minitaur.envs.minitaur_extended_env import MinitaurExtendedEnv, MinitaurReactiveEnv diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py index e07c8d505d..af52bc3a10 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py @@ -30,7 +30,7 @@ def randomize_step(self, env): Will be called at every environment step. It is NOT recommended to use this for force / torque disturbance because - pybullet applyExternalForce/Torque only persist for single simulation step + pycram_bullet applyExternalForce/Torque only persist for single simulation step not the entire env step which can contain multiple simulation steps. Args: diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_alternating_legs_env_randomizer.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_alternating_legs_env_randomizer.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_alternating_legs_env_randomizer.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_alternating_legs_env_randomizer.py index c72c87715b..1c91077439 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_alternating_legs_env_randomizer.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_alternating_legs_env_randomizer.py @@ -12,7 +12,7 @@ import numpy as np import tf.compat.v1 as tf -from pybullet_envs.minitaur.envs import env_randomizer_base +from pycram_bullet_envs.minitaur.envs import env_randomizer_base # Absolute range. NUM_LEGS = 4 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py index 81b89f301c..1f46442cbe 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py @@ -8,7 +8,7 @@ os.sys.path.insert(0, parentdir) import numpy as np -from pybullet_envs.minitaur.envs import env_randomizer_base +from pycram_bullet_envs.minitaur.envs import env_randomizer_base # Relative range. MINITAUR_BASE_MASS_ERROR_RANGE = (-0.2, 0.2) # 0.2 means 20% diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_config.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_config.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_config.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_config.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_from_config.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_from_config.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_from_config.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_from_config.py index 8254d0ca79..ff054ef1d1 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_from_config.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer_from_config.py @@ -15,8 +15,8 @@ import numpy as np import tf.compat.v1 as tf -from pybullet_envs.minitaur.envs import env_randomizer_base -from pybullet_envs.minitaur.envs.env_randomizers import minitaur_env_randomizer_config +from pycram_bullet_envs.minitaur.envs import env_randomizer_base +from pycram_bullet_envs.minitaur.envs.env_randomizers import minitaur_env_randomizer_config SIMULATION_TIME_STEP = 0.001 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py similarity index 93% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py index aa4adb7d46..a2b28c0c9c 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py @@ -14,7 +14,7 @@ import math import gin import numpy as np -from pybullet_envs.minitaur.envs import env_randomizer_base +from pycram_bullet_envs.minitaur.envs import env_randomizer_base _PERTURBATION_START_STEP = 100 _PERTURBATION_INTERVAL_STEPS = 200 @@ -90,12 +90,12 @@ def randomize_step(self, env): if (env.env_step_counter % self._perturbation_interval_steps < self._perturbation_duration_steps) and (env.env_step_counter >= self._perturbation_start_step): - # Parameter of pybullet_client.applyExternalForce() + # Parameter of pycram_bullet_client.applyExternalForce() self._perturbation_parameter_dict = dict(objectUniqueId=env.minitaur.quadruped, linkIndex=self._applied_link_id, forceObj=self._applied_force, posObj=[0.0, 0.0, 0.0], - flags=env.pybullet_client.LINK_FRAME) + flags=env.pycram_bullet_client.LINK_FRAME) else: self._perturbation_parameter_dict = None @@ -111,4 +111,4 @@ def randomize_sub_step(self, env, sub_step_index, num_sub_steps): num_sub_steps: Number of sub steps, equals to action repeat. """ if self._perturbation_parameter_dict is not None: - env.pybullet_client.applyExternalForce(**self._perturbation_parameter_dict) + env.pycram_bullet_client.applyExternalForce(**self._perturbation_parameter_dict) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_terrain_randomizer.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_terrain_randomizer.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_terrain_randomizer.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_terrain_randomizer.py index d5f33371ef..6c2127a536 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_terrain_randomizer.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_terrain_randomizer.py @@ -15,7 +15,7 @@ import enum import numpy as np -from pybullet_envs.minitaur.envs import env_randomizer_base +from pycram_bullet_envs.minitaur.envs import env_randomizer_base _GRID_LENGTH = 15 _GRID_WIDTH = 10 @@ -248,13 +248,13 @@ def _load_triangle_mesh(self, env): Args: env: A minitaur gym environment. """ - env.pybullet_client.removeBody(env.ground_id) - terrain_collision_shape_id = env.pybullet_client.createCollisionShape( - shapeType=env.pybullet_client.GEOM_MESH, + env.pycram_bullet_client.removeBody(env.ground_id) + terrain_collision_shape_id = env.pycram_bullet_client.createCollisionShape( + shapeType=env.pycram_bullet_client.GEOM_MESH, fileName=self._mesh_filename, flags=1, meshScale=self._mesh_scale) - env.ground_id = env.pybullet_client.createMultiBody( + env.ground_id = env.pycram_bullet_client.createMultiBody( baseMass=0, baseCollisionShapeIndex=terrain_collision_shape_id, basePosition=[0, 0, 0]) def _generate_convex_blocks(self, env): @@ -282,9 +282,9 @@ def _generate_convex_blocks(self, env): continue half_length = np.random.uniform(_MIN_BLOCK_LENGTH, _MAX_BLOCK_LENGTH) / (2 * math.sqrt(2)) half_height = np.random.uniform(_MIN_BLOCK_HEIGHT, _MAX_BLOCK_HEIGHT) / 2 - box_id = env.pybullet_client.createCollisionShape( - env.pybullet_client.GEOM_BOX, halfExtents=[half_length, half_length, half_height]) - env.pybullet_client.createMultiBody( + box_id = env.pycram_bullet_client.createCollisionShape( + env.pycram_bullet_client.GEOM_BOX, halfExtents=[half_length, half_length, half_height]) + env.pycram_bullet_client.createMultiBody( baseMass=0, baseCollisionShapeIndex=box_id, basePosition=[shifted_center[0], shifted_center[1], half_height]) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur.py similarity index 88% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur.py index fc403c0d5d..79a5fbdcd9 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur.py @@ -1,4 +1,4 @@ -"""This file implements the functionalities of a minitaur using pybullet. +"""This file implements the functionalities of a minitaur using pycram_bullet. """ @@ -13,7 +13,7 @@ import re import numpy as np -from pybullet_envs.minitaur.envs import motor +from pycram_bullet_envs.minitaur.envs import motor INIT_POSITION = [0, 0, .2] INIT_RACK_POSITION = [0, 0, 1] @@ -59,7 +59,7 @@ class Minitaur(object): """ def __init__(self, - pybullet_client, + pycram_bullet_client, urdf_root="", time_step=0.01, action_repeat=1, @@ -79,7 +79,7 @@ def __init__(self, """Constructs a minitaur and reset it to the initial states. Args: - pybullet_client: The instance of BulletClient to manage different + pycram_bullet_client: The instance of BulletClient to manage different simulations. urdf_root: The path to the urdf folder. time_step: The time step of the simulation. @@ -113,7 +113,7 @@ def __init__(self, """ self.num_motors = 8 self.num_legs = int(self.num_motors / 2) - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._action_repeat = action_repeat self._urdf_root = urdf_root self._self_collision_enabled = self_collision_enabled @@ -161,7 +161,7 @@ def GetTimeSinceReset(self): def Step(self, action): for _ in range(self._action_repeat): self.ApplyAction(action) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() self._step_counter += 1 @@ -172,21 +172,21 @@ def _RecordMassInfoFromURDF(self): self._base_mass_urdf = [] for chassis_id in self._chassis_link_ids: self._base_mass_urdf.append( - self._pybullet_client.getDynamicsInfo(self.quadruped, chassis_id)[0]) + self._pycram_bullet_client.getDynamicsInfo(self.quadruped, chassis_id)[0]) self._leg_masses_urdf = [] for leg_id in self._leg_link_ids: self._leg_masses_urdf.append( - self._pybullet_client.getDynamicsInfo(self.quadruped, leg_id)[0]) + self._pycram_bullet_client.getDynamicsInfo(self.quadruped, leg_id)[0]) for motor_id in self._motor_link_ids: self._leg_masses_urdf.append( - self._pybullet_client.getDynamicsInfo(self.quadruped, motor_id)[0]) + self._pycram_bullet_client.getDynamicsInfo(self.quadruped, motor_id)[0]) def _RecordInertiaInfoFromURDF(self): """Record the inertia of each body from URDF file.""" self._link_urdf = [] - num_bodies = self._pybullet_client.getNumJoints(self.quadruped) + num_bodies = self._pycram_bullet_client.getNumJoints(self.quadruped) for body_id in range(-1, num_bodies): # -1 is for the base link. - inertia = self._pybullet_client.getDynamicsInfo(self.quadruped, body_id)[2] + inertia = self._pycram_bullet_client.getDynamicsInfo(self.quadruped, body_id)[2] self._link_urdf.append(inertia) # We need to use id+1 to index self._link_urdf because it has the base # (index = -1) at the first element. @@ -198,22 +198,22 @@ def _RecordInertiaInfoFromURDF(self): [self._link_urdf[motor_id + 1] for motor_id in self._motor_link_ids]) def _BuildJointNameToIdDict(self): - num_joints = self._pybullet_client.getNumJoints(self.quadruped) + num_joints = self._pycram_bullet_client.getNumJoints(self.quadruped) self._joint_name_to_id = {} for i in range(num_joints): - joint_info = self._pybullet_client.getJointInfo(self.quadruped, i) + joint_info = self._pycram_bullet_client.getJointInfo(self.quadruped, i) self._joint_name_to_id[joint_info[1].decode("UTF-8")] = joint_info[0] def _BuildUrdfIds(self): """Build the link Ids from its name in the URDF file.""" - num_joints = self._pybullet_client.getNumJoints(self.quadruped) + num_joints = self._pycram_bullet_client.getNumJoints(self.quadruped) self._chassis_link_ids = [-1] # the self._leg_link_ids include both the upper and lower links of the leg. self._leg_link_ids = [] self._motor_link_ids = [] self._foot_link_ids = [] for i in range(num_joints): - joint_info = self._pybullet_client.getJointInfo(self.quadruped, i) + joint_info = self._pycram_bullet_client.getJointInfo(self.quadruped, i) joint_name = joint_info[1].decode("UTF-8") joint_id = self._joint_name_to_id[joint_name] if _CHASSIS_NAME_PATTERN.match(joint_name): @@ -231,10 +231,10 @@ def _BuildUrdfIds(self): self._leg_link_ids.sort() def _RemoveDefaultJointDamping(self): - num_joints = self._pybullet_client.getNumJoints(self.quadruped) + num_joints = self._pycram_bullet_client.getNumJoints(self.quadruped) for i in range(num_joints): - joint_info = self._pybullet_client.getJointInfo(self.quadruped, i) - self._pybullet_client.changeDynamics(joint_info[0], -1, linearDamping=0, angularDamping=0) + joint_info = self._pycram_bullet_client.getJointInfo(self.quadruped, i) + self._pycram_bullet_client.changeDynamics(joint_info[0], -1, linearDamping=0, angularDamping=0) def _BuildMotorIdList(self): self._motor_id_list = [self._joint_name_to_id[motor_name] for motor_name in MOTOR_NAMES] @@ -270,13 +270,13 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): init_position = INIT_POSITION if reload_urdf: if self._self_collision_enabled: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( "%s/quadruped/minitaur.urdf" % self._urdf_root, init_position, useFixedBase=self._on_rack, - flags=self._pybullet_client.URDF_USE_SELF_COLLISION) + flags=self._pycram_bullet_client.URDF_USE_SELF_COLLISION) else: - self.quadruped = self._pybullet_client.loadURDF("%s/quadruped/minitaur.urdf" % + self.quadruped = self._pycram_bullet_client.loadURDF("%s/quadruped/minitaur.urdf" % self._urdf_root, init_position, useFixedBase=self._on_rack) @@ -289,9 +289,9 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): self._RecordInertiaInfoFromURDF() self.ResetPose(add_constraint=True) else: - self._pybullet_client.resetBasePositionAndOrientation(self.quadruped, init_position, + self._pycram_bullet_client.resetBasePositionAndOrientation(self.quadruped, init_position, INIT_ORIENTATION) - self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0]) + self._pycram_bullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0]) self.ResetPose(add_constraint=False) self._overheat_counter = np.zeros(self.num_motors) self._motor_enabled_list = [True] * self.num_motors @@ -305,26 +305,26 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): self.ReceiveObservation() for _ in range(100): self.ApplyAction([math.pi / 2] * self.num_motors) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() if default_motor_angles is not None: num_steps_to_reset = int(reset_time / self.time_step) for _ in range(num_steps_to_reset): self.ApplyAction(default_motor_angles) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() self.ReceiveObservation() def _SetMotorTorqueById(self, motor_id, torque): - self._pybullet_client.setJointMotorControl2(bodyIndex=self.quadruped, + self._pycram_bullet_client.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motor_id, - controlMode=self._pybullet_client.TORQUE_CONTROL, + controlMode=self._pycram_bullet_client.TORQUE_CONTROL, force=torque) def _SetDesiredMotorAngleById(self, motor_id, desired_angle): - self._pybullet_client.setJointMotorControl2(bodyIndex=self.quadruped, + self._pycram_bullet_client.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motor_id, - controlMode=self._pybullet_client.POSITION_CONTROL, + controlMode=self._pycram_bullet_client.POSITION_CONTROL, targetPosition=desired_angle, positionGain=self._kp, velocityGain=self._kd, @@ -355,45 +355,45 @@ def _ResetPoseForLeg(self, leg_id, add_constraint): knee_angle = -2.1834 leg_position = LEG_POSITION[leg_id] - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["motor_" + leg_position + "L_joint"], self._motor_direction[2 * leg_id] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_link"], self._motor_direction[2 * leg_id] * knee_angle, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["motor_" + leg_position + "R_joint"], self._motor_direction[2 * leg_id + 1] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_link"], self._motor_direction[2 * leg_id + 1] * knee_angle, targetVelocity=0) if add_constraint: - self._pybullet_client.createConstraint( + self._pycram_bullet_client.createConstraint( self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_link"], self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_link"], - self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_RIGHT, + self._pycram_bullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_RIGHT, KNEE_CONSTRAINT_POINT_LEFT) if self._accurate_motor_model_enabled or self._pd_control_enabled: - # Disable the default motor in pybullet. - self._pybullet_client.setJointMotorControl2( + # Disable the default motor in pycram_bullet. + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "L_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "R_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) @@ -403,16 +403,16 @@ def _ResetPoseForLeg(self, leg_id, add_constraint): self._SetDesiredMotorAngleByName("motor_" + leg_position + "R_joint", self._motor_direction[2 * leg_id + 1] * half_pi) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "L_link"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "R_link"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) @@ -422,7 +422,7 @@ def GetBasePosition(self): Returns: The position of minitaur's base. """ - position, _ = (self._pybullet_client.getBasePositionAndOrientation(self.quadruped)) + position, _ = (self._pycram_bullet_client.getBasePositionAndOrientation(self.quadruped)) return position def GetTrueBaseRollPitchYaw(self): @@ -432,7 +432,7 @@ def GetTrueBaseRollPitchYaw(self): A tuple (roll, pitch, yaw) of the base in world frame. """ orientation = self.GetTrueBaseOrientation() - roll_pitch_yaw = self._pybullet_client.getEulerFromQuaternion(orientation) + roll_pitch_yaw = self._pycram_bullet_client.getEulerFromQuaternion(orientation) return np.asarray(roll_pitch_yaw) def GetBaseRollPitchYaw(self): @@ -445,7 +445,7 @@ def GetBaseRollPitchYaw(self): """ delayed_orientation = np.array( self._control_observation[3 * self.num_motors:3 * self.num_motors + 4]) - delayed_roll_pitch_yaw = self._pybullet_client.getEulerFromQuaternion(delayed_orientation) + delayed_roll_pitch_yaw = self._pycram_bullet_client.getEulerFromQuaternion(delayed_orientation) roll_pitch_yaw = self._AddSensorNoise(np.array(delayed_roll_pitch_yaw), self._observation_noise_stdev[3]) return roll_pitch_yaw @@ -457,7 +457,7 @@ def GetTrueMotorAngles(self): Motor angles, mapped to [-pi, pi]. """ motor_angles = [ - self._pybullet_client.getJointState(self.quadruped, motor_id)[0] + self._pycram_bullet_client.getJointState(self.quadruped, motor_id)[0] for motor_id in self._motor_id_list ] motor_angles = np.multiply(motor_angles, self._motor_direction) @@ -483,7 +483,7 @@ def GetTrueMotorVelocities(self): Velocities of all eight motors. """ motor_velocities = [ - self._pybullet_client.getJointState(self.quadruped, motor_id)[1] + self._pycram_bullet_client.getJointState(self.quadruped, motor_id)[1] for motor_id in self._motor_id_list ] motor_velocities = np.multiply(motor_velocities, self._motor_direction) @@ -510,7 +510,7 @@ def GetTrueMotorTorques(self): return self._observed_motor_torques else: motor_torques = [ - self._pybullet_client.getJointState(self.quadruped, motor_id)[3] + self._pycram_bullet_client.getJointState(self.quadruped, motor_id)[3] for motor_id in self._motor_id_list ] motor_torques = np.multiply(motor_torques, self._motor_direction) @@ -533,7 +533,7 @@ def GetTrueBaseOrientation(self): Returns: The orientation of minitaur's base. """ - _, orientation = (self._pybullet_client.getBasePositionAndOrientation(self.quadruped)) + _, orientation = (self._pycram_bullet_client.getBasePositionAndOrientation(self.quadruped)) return orientation def GetBaseOrientation(self): @@ -543,7 +543,7 @@ def GetBaseOrientation(self): Returns: The orientation of minitaur's base polluted by noise and latency. """ - return self._pybullet_client.getQuaternionFromEuler(self.GetBaseRollPitchYaw()) + return self._pycram_bullet_client.getQuaternionFromEuler(self.GetBaseRollPitchYaw()) def GetTrueBaseRollPitchYawRate(self): """Get the rate of orientation change of the minitaur's base in euler angle. @@ -551,7 +551,7 @@ def GetTrueBaseRollPitchYawRate(self): Returns: rate of (roll, pitch, yaw) change of the minitaur's base. """ - vel = self._pybullet_client.getBaseVelocity(self.quadruped) + vel = self._pycram_bullet_client.getBaseVelocity(self.quadruped) return np.asarray([vel[1][0], vel[1][1], vel[1][2]]) def GetBaseRollPitchYawRate(self): @@ -703,7 +703,7 @@ def SetBaseMasses(self, base_mass): raise ValueError("The length of base_mass {} and self._chassis_link_ids {} are not " "the same.".format(len(base_mass), len(self._chassis_link_ids))) for chassis_id, chassis_mass in zip(self._chassis_link_ids, base_mass): - self._pybullet_client.changeDynamics(self.quadruped, chassis_id, mass=chassis_mass) + self._pycram_bullet_client.changeDynamics(self.quadruped, chassis_id, mass=chassis_mass) def SetLegMasses(self, leg_masses): """Set the mass of the legs. @@ -723,10 +723,10 @@ def SetLegMasses(self, leg_masses): raise ValueError("The number of values passed to SetLegMasses are " "different than number of leg links and motors.") for leg_id, leg_mass in zip(self._leg_link_ids, leg_masses): - self._pybullet_client.changeDynamics(self.quadruped, leg_id, mass=leg_mass) + self._pycram_bullet_client.changeDynamics(self.quadruped, leg_id, mass=leg_mass) motor_masses = leg_masses[len(self._leg_link_ids):] for link_id, motor_mass in zip(self._motor_link_ids, motor_masses): - self._pybullet_client.changeDynamics(self.quadruped, link_id, mass=motor_mass) + self._pycram_bullet_client.changeDynamics(self.quadruped, link_id, mass=motor_mass) def SetBaseInertias(self, base_inertias): """Set the inertias of minitaur's base. @@ -747,7 +747,7 @@ def SetBaseInertias(self, base_inertias): for inertia_value in chassis_inertia: if (np.asarray(inertia_value) < 0).any(): raise ValueError("Values in inertia matrix should be non-negative.") - self._pybullet_client.changeDynamics(self.quadruped, + self._pycram_bullet_client.changeDynamics(self.quadruped, chassis_id, localInertiaDiagonal=chassis_inertia) @@ -773,7 +773,7 @@ def SetLegInertias(self, leg_inertias): for inertia_value in leg_inertias: if (np.asarray(inertia_value) < 0).any(): raise ValueError("Values in inertia matrix should be non-negative.") - self._pybullet_client.changeDynamics(self.quadruped, + self._pycram_bullet_client.changeDynamics(self.quadruped, leg_id, localInertiaDiagonal=leg_inertia) @@ -782,7 +782,7 @@ def SetLegInertias(self, leg_inertias): for inertia_value in motor_inertias: if (np.asarray(inertia_value) < 0).any(): raise ValueError("Values in inertia matrix should be non-negative.") - self._pybullet_client.changeDynamics(self.quadruped, + self._pycram_bullet_client.changeDynamics(self.quadruped, link_id, localInertiaDiagonal=motor_inertia) @@ -794,7 +794,7 @@ def SetFootFriction(self, foot_friction): shared by all four feet. """ for link_id in self._foot_link_ids: - self._pybullet_client.changeDynamics(self.quadruped, link_id, lateralFriction=foot_friction) + self._pycram_bullet_client.changeDynamics(self.quadruped, link_id, lateralFriction=foot_friction) # TODO(b/73748980): Add more API's to set other contact parameters. def SetFootRestitution(self, foot_restitution): @@ -805,14 +805,14 @@ def SetFootRestitution(self, foot_restitution): This value is shared by all four feet. """ for link_id in self._foot_link_ids: - self._pybullet_client.changeDynamics(self.quadruped, link_id, restitution=foot_restitution) + self._pycram_bullet_client.changeDynamics(self.quadruped, link_id, restitution=foot_restitution) def SetJointFriction(self, joint_frictions): for knee_joint_id, friction in zip(self._foot_link_ids, joint_frictions): - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=knee_joint_id, - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=friction) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env.py index fa177b7b55..86787050f6 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env.py @@ -10,7 +10,7 @@ from gym import spaces import numpy as np -from pybullet_envs.minitaur.envs import minitaur_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env INIT_EXTENSION_POS = 2.6 INIT_SWING_POS = 0.0 @@ -164,7 +164,7 @@ def is_fallen(self): Boolean value that indicates whether the minitaur has fallen. """ orientation = self.minitaur.GetBaseOrientation() - rot_mat = self._pybullet_client.getMatrixFromQuaternion(orientation) + rot_mat = self._pycram_bullet_client.getMatrixFromQuaternion(orientation) local_up = rot_mat[6:] return np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.85 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env_example.py similarity index 93% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env_example.py index da308e2fe0..78aa75de59 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_alternating_legs_env_example.py @@ -11,9 +11,9 @@ import os import numpy as np import tf.compat.v1 as tf -from pybullet_envs.minitaur.envs import minitaur_alternating_legs_env -from pybullet_envs.minitaur.envs import minitaur_gym_env -from pybullet_envs.minitaur.envs.env_randomizers import minitaur_alternating_legs_env_randomizer as randomizer_lib +from pycram_bullet_envs.minitaur.envs import minitaur_alternating_legs_env +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env +from pycram_bullet_envs.minitaur.envs.env_randomizers import minitaur_alternating_legs_env_randomizer as randomizer_lib #FLAGS = flags.FLAGS #flags.DEFINE_string("log_path", None, "The directory to write the log file.") diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env.py similarity index 88% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env.py index b40d6f0d43..cd315aab49 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env.py @@ -11,8 +11,8 @@ from gym import spaces import numpy as np -from pybullet_envs.minitaur.envs import minitaur_gym_env -import pybullet_data +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env +import pycram_bullet_data GOAL_DISTANCE_THRESHOLD = 0.8 GOAL_REWARD = 1000.0 @@ -33,7 +33,7 @@ class MinitaurBallGymEnv(minitaur_gym_env.MinitaurGymEnv): """ def __init__(self, - urdf_root=pybullet_data.getDataPath(), + urdf_root=pycram_bullet_data.getDataPath(), self_collision_enabled=True, pd_control_enabled=False, leg_model_enabled=True, @@ -73,18 +73,18 @@ def reset(self): self._init_ball_distance * math.cos(self._init_ball_theta), self._init_ball_distance * math.sin(self._init_ball_theta), 1 ] - self._ball_id = self._pybullet_client.loadURDF( + self._ball_id = self._pycram_bullet_client.loadURDF( "%s/sphere_with_restitution.urdf" % self._urdf_root, self._ball_pos) return self._get_observation() def _get_observation(self): world_translation_minitaur, world_rotation_minitaur = ( - self._pybullet_client.getBasePositionAndOrientation(self.minitaur.quadruped)) + self._pycram_bullet_client.getBasePositionAndOrientation(self.minitaur.quadruped)) world_translation_ball, world_rotation_ball = ( - self._pybullet_client.getBasePositionAndOrientation(self._ball_id)) - minitaur_translation_world, minitaur_rotation_world = (self._pybullet_client.invertTransform( + self._pycram_bullet_client.getBasePositionAndOrientation(self._ball_id)) + minitaur_translation_world, minitaur_rotation_world = (self._pycram_bullet_client.invertTransform( world_translation_minitaur, world_rotation_minitaur)) - minitaur_translation_ball, _ = (self._pybullet_client.multiplyTransforms( + minitaur_translation_ball, _ = (self._pycram_bullet_client.multiplyTransforms( minitaur_translation_world, minitaur_rotation_world, world_translation_ball, world_rotation_ball)) distance = math.sqrt(minitaur_translation_ball[0]**2 + minitaur_translation_ball[1]**2) @@ -117,9 +117,9 @@ def _apply_steering_to_locomotion(self, action): return action def _distance_to_ball(self): - world_translation_minitaur, _ = (self._pybullet_client.getBasePositionAndOrientation( + world_translation_minitaur, _ = (self._pycram_bullet_client.getBasePositionAndOrientation( self.minitaur.quadruped)) - world_translation_ball, _ = (self._pybullet_client.getBasePositionAndOrientation( + world_translation_ball, _ = (self._pycram_bullet_client.getBasePositionAndOrientation( self._ball_id)) distance = math.sqrt((world_translation_ball[0] - world_translation_minitaur[0])**2 + (world_translation_ball[1] - world_translation_minitaur[1])**2) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env_example.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_ball_gym_env_example.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_derpy.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_derpy.py similarity index 79% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_derpy.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_derpy.py index 7946955d4b..e58778747e 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_derpy.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_derpy.py @@ -1,4 +1,4 @@ -"""This file implements the functionalities of a minitaur derpy using pybullet. +"""This file implements the functionalities of a minitaur derpy using pycram_bullet. It is the result of first pass system identification for the derpy robot. The @@ -12,7 +12,7 @@ os.sys.path.insert(0, parentdir) import numpy as np -from pybullet_envs.minitaur.envs import minitaur +from pycram_bullet_envs.minitaur.envs import minitaur KNEE_CONSTRAINT_POINT_LONG = [0, 0.0055, 0.088] KNEE_CONSTRAINT_POINT_SHORT = [0, 0.0055, 0.100] @@ -42,13 +42,13 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): init_position = minitaur.INIT_POSITION if reload_urdf: if self._self_collision_enabled: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( "%s/quadruped/minitaur_derpy.urdf" % self._urdf_root, init_position, useFixedBase=self._on_rack, - flags=(self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT)) + flags=(self._pycram_bullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT)) else: - self.quadruped = self._pybullet_client.loadURDF("%s/quadruped/minitaur_derpy.urdf" % + self.quadruped = self._pycram_bullet_client.loadURDF("%s/quadruped/minitaur_derpy.urdf" % self._urdf_root, init_position, useFixedBase=self._on_rack) @@ -61,9 +61,9 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): self._RecordInertiaInfoFromURDF() self.ResetPose(add_constraint=True) else: - self._pybullet_client.resetBasePositionAndOrientation(self.quadruped, init_position, + self._pycram_bullet_client.resetBasePositionAndOrientation(self.quadruped, init_position, minitaur.INIT_ORIENTATION) - self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0]) + self._pycram_bullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0]) self.ResetPose(add_constraint=False) self._overheat_counter = np.zeros(self.num_motors) @@ -78,13 +78,13 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): self.ReceiveObservation() for _ in range(100): self.ApplyAction([math.pi / 2] * self.num_motors) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() if default_motor_angles is not None: num_steps_to_reset = int(reset_time / self.time_step) for _ in range(num_steps_to_reset): self.ApplyAction(default_motor_angles) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() self.ReceiveObservation() @@ -101,52 +101,52 @@ def _ResetPoseForLeg(self, leg_id, add_constraint): knee_angle = -2.1834 leg_position = minitaur.LEG_POSITION[leg_id] - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["motor_" + leg_position + "L_joint"], self._motor_direction[2 * leg_id] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_joint"], self._motor_direction[2 * leg_id] * knee_angle, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["motor_" + leg_position + "R_joint"], self._motor_direction[2 * leg_id + 1] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_joint"], self._motor_direction[2 * leg_id + 1] * knee_angle, targetVelocity=0) if add_constraint: if leg_id < 2: - self._pybullet_client.createConstraint( + self._pycram_bullet_client.createConstraint( self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_joint"], self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_joint"], - self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_SHORT, + self._pycram_bullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_SHORT, KNEE_CONSTRAINT_POINT_LONG) else: - self._pybullet_client.createConstraint( + self._pycram_bullet_client.createConstraint( self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_joint"], self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_joint"], - self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_LONG, + self._pycram_bullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_LONG, KNEE_CONSTRAINT_POINT_SHORT) if self._accurate_motor_model_enabled or self._pd_control_enabled: - # Disable the default motor in pybullet. - self._pybullet_client.setJointMotorControl2( + # Disable the default motor in pycram_bullet. + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "L_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "R_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) @@ -156,15 +156,15 @@ def _ResetPoseForLeg(self, leg_id, add_constraint): self._SetDesiredMotorAngleByName("motor_" + leg_position + "R_joint", self._motor_direction[2 * leg_id + 1] * half_pi) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "L_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "R_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py index eda9b31951..d9e4316b43 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py @@ -8,7 +8,7 @@ from gym import spaces import numpy as np -from pybullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv +from pycram_bullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv class MinitaurExtendedEnv(MinitaurReactiveEnv): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env.py index 1008f80620..b2138ff295 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env.py @@ -7,8 +7,8 @@ import time from gym import spaces import numpy as np -from pybullet_envs.minitaur.envs import minitaur_gym_env -from pybullet_envs.minitaur.envs import minitaur_logging +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur_logging INIT_EXTENSION_POS = 2.0 INIT_SWING_POS = 0.0 @@ -143,7 +143,7 @@ def reset(self): INIT_EXTENSION_POS + self._extension_offset[3] ] initial_motor_angles = self._convert_from_leg_model(init_pose) - self._pybullet_client.resetBasePositionAndOrientation(0, [0, 0, 0], [0, 0, 0, 1]) + self._pycram_bullet_client.resetBasePositionAndOrientation(0, [0, 0, 0], [0, 0, 0, 1]) super(MinitaurFourLegStandEnv, self).reset(initial_motor_angles=initial_motor_angles, reset_duration=0.5) return self._get_observation() @@ -174,8 +174,8 @@ def step(self, action): time.sleep(time_to_sleep) base_pos = self.minitaur.GetBasePosition() # Keep the previous orientation of the camera set by the user. - [yaw, pitch, dist] = self._pybullet_client.getDebugVisualizerCamera()[8:11] - self._pybullet_client.resetDebugVisualizerCamera(dist, yaw, pitch, base_pos) + [yaw, pitch, dist] = self._pycram_bullet_client.getDebugVisualizerCamera()[8:11] + self._pycram_bullet_client.resetDebugVisualizerCamera(dist, yaw, pitch, base_pos) action = self._transform_action_to_motor_command(action) t = self._env_step_counter % MOVING_FLOOR_TOTAL_STEP if t == 0: @@ -183,27 +183,27 @@ def step(self, action): orientation_x = random.uniform(-0.2, 0.2) self.seed() orientation_y = random.uniform(-0.2, 0.2) - _, self._cur_ori = self._pybullet_client.getBasePositionAndOrientation(0) - self._goal_ori = self._pybullet_client.getQuaternionFromEuler( + _, self._cur_ori = self._pycram_bullet_client.getBasePositionAndOrientation(0) + self._goal_ori = self._pycram_bullet_client.getQuaternionFromEuler( [orientation_x, orientation_y, 0]) t = float(float(t) / float(MOVING_FLOOR_TOTAL_STEP)) ori = map(operator.add, [x * (1.0 - t) for x in self._cur_ori], [x * t for x in self._goal_ori]) ori = list(ori) print("ori=", ori) - self._pybullet_client.resetBasePositionAndOrientation(0, [0, 0, 0], ori) + self._pycram_bullet_client.resetBasePositionAndOrientation(0, [0, 0, 0], ori) if self._env_step_counter % PERTURBATION_TOTAL_STEP == 0: self._perturbation_magnitude = random.uniform(0.0, 0.0) if self._sign < 0.5: self._sign = 1.0 else: self._sign = 0.0 - self._pybullet_client.applyExternalForce( + self._pycram_bullet_client.applyExternalForce( objectUniqueId=1, linkIndex=-1, forceObj=[self._sign * self._perturbation_magnitude, 0.0, 0.0], posObj=[0.0, 0.0, 0.0], - flags=self._pybullet_client.LINK_FRAME) + flags=self._pycram_bullet_client.LINK_FRAME) self.minitaur.Step(action) self._env_step_counter += 1 done = self._termination() @@ -255,7 +255,7 @@ def is_fallen(self): Boolean value that indicates whether the minitaur has fallen. """ orientation = self.minitaur.GetBaseOrientation() - rot_mat = self._pybullet_client.getMatrixFromQuaternion(orientation) + rot_mat = self._pycram_bullet_client.getMatrixFromQuaternion(orientation) local_up = rot_mat[6:] _, _, height = self.minitaur.GetBasePosition() local_global_up_dot_product = np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env_example.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env_example.py index d4d92fd565..3da8b8dbb3 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_four_leg_stand_env_example.py @@ -3,7 +3,7 @@ """ import numpy as np import tf.compat.v1 as tf -from pybullet_envs.minitaur.envs import minitaur_four_leg_stand_env +from pycram_bullet_envs.minitaur.envs import minitaur_four_leg_stand_env FLAGS = tf.flags.FLAGS tf.flags.DEFINE_string("log_path", None, "The directory to write the log file.") diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py similarity index 89% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py index 608b8eab0d..3efd85a959 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py @@ -13,15 +13,15 @@ from gym import spaces from gym.utils import seeding import numpy as np -import pybullet -from pybullet_utils import bullet_client as bc -import pybullet_data -from pybullet_envs.minitaur.envs import minitaur -from pybullet_envs.minitaur.envs import minitaur_derpy -from pybullet_envs.minitaur.envs import minitaur_logging -from pybullet_envs.minitaur.envs import minitaur_logging_pb2 -from pybullet_envs.minitaur.envs import minitaur_rainbow_dash -from pybullet_envs.minitaur.envs import motor +import pycram_bullet +from pycram_bullet_utils import bullet_client as bc +import pycram_bullet_data +from pycram_bullet_envs.minitaur.envs import minitaur +from pycram_bullet_envs.minitaur.envs import minitaur_derpy +from pycram_bullet_envs.minitaur.envs import minitaur_logging +from pycram_bullet_envs.minitaur.envs import minitaur_logging_pb2 +from pycram_bullet_envs.minitaur.envs import minitaur_rainbow_dash +from pycram_bullet_envs.minitaur.envs import motor from pkg_resources import parse_version NUM_MOTORS = 8 @@ -67,7 +67,7 @@ class MinitaurGymEnv(gym.Env): metadata = {"render.modes": ["human", "rgb_array"], "video.frames_per_second": 100} def __init__(self, - urdf_root=pybullet_data.getDataPath(), + urdf_root=pycram_bullet_data.getDataPath(), urdf_version=None, distance_weight=1.0, energy_weight=0.005, @@ -223,12 +223,12 @@ class remains the same, some code changes (e.g. the constraint location self._env_randomizers = convert_to_list(env_randomizer) if env_randomizer else [] self._episode_proto = minitaur_logging_pb2.MinitaurEpisode() if self._is_render: - self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI) + self._pycram_bullet_client = bc.BulletClient(connection_mode=pycram_bullet.GUI) else: - self._pybullet_client = bc.BulletClient() + self._pycram_bullet_client = bc.BulletClient() if self._urdf_version is None: self._urdf_version = DEFAULT_URDF_VERSION - self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0) + self._pycram_bullet_client.setPhysicsEngineParameter(enableConeFriction=0) self.seed() self.reset() observation_high = (self._get_observation_upper_bound() + OBSERVATION_EPS) @@ -249,29 +249,29 @@ def add_env_randomizer(self, env_randomizer): self._env_randomizers.append(env_randomizer) def reset(self, initial_motor_angles=None, reset_duration=1.0): - self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_RENDERING, 0) + self._pycram_bullet_client.configureDebugVisualizer(self._pycram_bullet_client.COV_ENABLE_RENDERING, 0) if self._env_step_counter > 0: self.logging.save_episode(self._episode_proto) self._episode_proto = minitaur_logging_pb2.MinitaurEpisode() minitaur_logging.preallocate_episode_proto(self._episode_proto, self._num_steps_to_log) if self._hard_reset: - self._pybullet_client.resetSimulation() - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.resetSimulation() + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=int(self._num_bullet_solver_iterations)) - self._pybullet_client.setTimeStep(self._time_step) - self._ground_id = self._pybullet_client.loadURDF("%s/plane.urdf" % self._urdf_root) + self._pycram_bullet_client.setTimeStep(self._time_step) + self._ground_id = self._pycram_bullet_client.loadURDF("%s/plane.urdf" % self._urdf_root) if (self._reflection): - self._pybullet_client.changeVisualShape(self._ground_id, -1, rgbaColor=[1, 1, 1, 0.8]) - self._pybullet_client.configureDebugVisualizer( - self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION, self._ground_id) - self._pybullet_client.setGravity(0, 0, -10) + self._pycram_bullet_client.changeVisualShape(self._ground_id, -1, rgbaColor=[1, 1, 1, 0.8]) + self._pycram_bullet_client.configureDebugVisualizer( + self._pycram_bullet_client.COV_ENABLE_PLANAR_REFLECTION, self._ground_id) + self._pycram_bullet_client.setGravity(0, 0, -10) acc_motor = self._accurate_motor_model_enabled motor_protect = self._motor_overheat_protection if self._urdf_version not in MINIATUR_URDF_VERSION_MAP: raise ValueError("%s is not a supported urdf_version." % self._urdf_version) else: self.minitaur = (MINIATUR_URDF_VERSION_MAP[self._urdf_version]( - pybullet_client=self._pybullet_client, + pycram_bullet_client=self._pycram_bullet_client, action_repeat=self._action_repeat, urdf_root=self._urdf_root, time_step=self._time_step, @@ -296,13 +296,13 @@ def reset(self, initial_motor_angles=None, reset_duration=1.0): for env_randomizer in self._env_randomizers: env_randomizer.randomize_env(self) - self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0) + self._pycram_bullet_client.setPhysicsEngineParameter(enableConeFriction=0) self._env_step_counter = 0 self._last_base_position = [0, 0, 0] self._objectives = [] - self._pybullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, + self._pycram_bullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, self._cam_pitch, [0, 0, 0]) - self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_RENDERING, 1) + self._pycram_bullet_client.configureDebugVisualizer(self._pycram_bullet_client.COV_ENABLE_RENDERING, 1) return self._get_observation() def seed(self, seed=None): @@ -346,8 +346,8 @@ def step(self, action): time.sleep(time_to_sleep) base_pos = self.minitaur.GetBasePosition() # Keep the previous orientation of the camera set by the user. - [yaw, pitch, dist] = self._pybullet_client.getDebugVisualizerCamera()[8:11] - self._pybullet_client.resetDebugVisualizerCamera(dist, yaw, pitch, base_pos) + [yaw, pitch, dist] = self._pycram_bullet_client.getDebugVisualizerCamera()[8:11] + self._pycram_bullet_client.resetDebugVisualizerCamera(dist, yaw, pitch, base_pos) for env_randomizer in self._env_randomizers: env_randomizer.randomize_step(self) @@ -368,22 +368,22 @@ def render(self, mode="rgb_array", close=False): if mode != "rgb_array": return np.array([]) base_pos = self.minitaur.GetBasePosition() - view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll( + view_matrix = self._pycram_bullet_client.computeViewMatrixFromYawPitchRoll( cameraTargetPosition=base_pos, distance=self._cam_dist, yaw=self._cam_yaw, pitch=self._cam_pitch, roll=0, upAxisIndex=2) - proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(fov=60, + proj_matrix = self._pycram_bullet_client.computeProjectionMatrixFOV(fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT, nearVal=0.1, farVal=100.0) - (_, _, px, _, _) = self._pybullet_client.getCameraImage( + (_, _, px, _, _) = self._pycram_bullet_client.getCameraImage( width=RENDER_WIDTH, height=RENDER_HEIGHT, - renderer=self._pybullet_client.ER_BULLET_HARDWARE_OPENGL, + renderer=self._pycram_bullet_client.ER_BULLET_HARDWARE_OPENGL, viewMatrix=view_matrix, projectionMatrix=proj_matrix) rgb_array = np.array(px) @@ -438,7 +438,7 @@ def is_fallen(self): Boolean value that indicates whether the minitaur has fallen. """ orientation = self.minitaur.GetBaseOrientation() - rot_mat = self._pybullet_client.getMatrixFromQuaternion(orientation) + rot_mat = self._pycram_bullet_client.getMatrixFromQuaternion(orientation) local_up = rot_mat[6:] pos = self.minitaur.GetBasePosition() return (np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.85 or pos[2] < 0.13) @@ -457,7 +457,7 @@ def _reward(self): drift_reward = -abs(current_base_position[1] - self._last_base_position[1]) # Penalty for sideways rotation of the body. orientation = self.minitaur.GetBaseOrientation() - rot_matrix = pybullet.getMatrixFromQuaternion(orientation) + rot_matrix = pycram_bullet.getMatrixFromQuaternion(orientation) local_up_vec = rot_matrix[6:] shake_reward = -abs(np.dot(np.asarray([1, 1, 0]), np.asarray(local_up_vec))) energy_reward = -np.abs( @@ -572,14 +572,14 @@ def set_time_step(self, control_step, simulation_step=0.001): self._time_step = simulation_step self._action_repeat = int(round(control_step / simulation_step)) self._num_bullet_solver_iterations = (NUM_SIMULATION_ITERATION_STEPS / self._action_repeat) - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=self._num_bullet_solver_iterations) - self._pybullet_client.setTimeStep(self._time_step) + self._pycram_bullet_client.setTimeStep(self._time_step) self.minitaur.SetTimeSteps(action_repeat=self._action_repeat, simulation_step=self._time_step) @property - def pybullet_client(self): - return self._pybullet_client + def pycram_bullet_client(self): + return self._pycram_bullet_client @property def ground_id(self): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env_example.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env_example.py index 9511b7280a..18865d69a1 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env_example.py @@ -14,7 +14,7 @@ import argparse import numpy as np import tf.compat.v1 as tf -from pybullet_envs.minitaur.envs import minitaur_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env import time #FLAGS = flags.FLAGS diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py index 2cff24e941..5c2d22ddb1 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py @@ -20,7 +20,7 @@ import time import logging -from pybullet_envs.minitaur.envs import minitaur_logging_pb2 +from pycram_bullet_envs.minitaur.envs import minitaur_logging_pb2 NUM_MOTORS = 8 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py index afb70dd33a..d25295d976 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py @@ -11,8 +11,8 @@ _sym_db = _symbol_database.Default() -from pybullet_envs.minitaur.envs import timestamp_pb2 as timestamp__pb2 -from pybullet_envs.minitaur.envs import vector_pb2 as vector__pb2 +from pycram_bullet_envs.minitaur.envs import timestamp_pb2 as timestamp__pb2 +from pycram_bullet_envs.minitaur.envs import vector_pb2 as vector__pb2 DESCRIPTOR = _descriptor.FileDescriptor( diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_proto_dump_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_proto_dump_example.py similarity index 93% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_proto_dump_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_proto_dump_example.py index f194eb2686..f3ee72a8bb 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_proto_dump_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_proto_dump_example.py @@ -1,7 +1,7 @@ import argparse import numpy -from pybullet_envs.minitaur.envs import minitaur_logging +from pycram_bullet_envs.minitaur.envs import minitaur_logging parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument('--log_file', help='path to protobuf file', default='') diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller_example.py similarity index 93% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller_example.py index 301f03569d..7abf0395e9 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller_example.py @@ -11,8 +11,8 @@ os.sys.path.insert(0, parentdir) import tf.compat.v1 as tf -from pybullet_envs.minitaur.envs import minitaur_raibert_controller -from pybullet_envs.minitaur.envs import minitaur_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur_raibert_controller +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env flags = tf.app.flags FLAGS = tf.app.flags.FLAGS diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_rainbow_dash.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_rainbow_dash.py similarity index 79% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_rainbow_dash.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_rainbow_dash.py index d1787ea358..6bbb001aa7 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_rainbow_dash.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_rainbow_dash.py @@ -1,4 +1,4 @@ -"""Implements the functionalities of a minitaur rainbow dash using pybullet. +"""Implements the functionalities of a minitaur rainbow dash using pycram_bullet. It is the result of first pass system identification for the rainbow dash robot. @@ -12,7 +12,7 @@ import math import numpy as np -from pybullet_envs.minitaur.envs import minitaur +from pycram_bullet_envs.minitaur.envs import minitaur KNEE_CONSTRAINT_POINT_LONG = [0, 0.0045, 0.088] KNEE_CONSTRAINT_POINT_SHORT = [0, 0.0045, 0.100] @@ -42,13 +42,13 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): init_position = minitaur.INIT_POSITION if reload_urdf: if self._self_collision_enabled: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( "%s/quadruped/minitaur_rainbow_dash.urdf" % self._urdf_root, init_position, useFixedBase=self._on_rack, - flags=(self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT)) + flags=(self._pycram_bullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT)) else: - self.quadruped = self._pybullet_client.loadURDF("%s/quadruped/minitaur_rainbow_dash.urdf" % + self.quadruped = self._pycram_bullet_client.loadURDF("%s/quadruped/minitaur_rainbow_dash.urdf" % self._urdf_root, init_position, useFixedBase=self._on_rack) @@ -61,9 +61,9 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): self._RecordInertiaInfoFromURDF() self.ResetPose(add_constraint=True) else: - self._pybullet_client.resetBasePositionAndOrientation(self.quadruped, init_position, + self._pycram_bullet_client.resetBasePositionAndOrientation(self.quadruped, init_position, minitaur.INIT_ORIENTATION) - self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0]) + self._pycram_bullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0]) self.ResetPose(add_constraint=False) self._overheat_counter = np.zeros(self.num_motors) @@ -78,13 +78,13 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): self.ReceiveObservation() for _ in range(100): self.ApplyAction([math.pi / 2] * self.num_motors) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() if default_motor_angles is not None: num_steps_to_reset = int(reset_time / self.time_step) for _ in range(num_steps_to_reset): self.ApplyAction(default_motor_angles) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() self.ReceiveObservation() @@ -101,52 +101,52 @@ def _ResetPoseForLeg(self, leg_id, add_constraint): knee_angle = -2.1834 leg_position = minitaur.LEG_POSITION[leg_id] - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["motor_" + leg_position + "L_joint"], self._motor_direction[2 * leg_id] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_joint"], self._motor_direction[2 * leg_id] * knee_angle, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["motor_" + leg_position + "R_joint"], self._motor_direction[2 * leg_id + 1] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState(self.quadruped, + self._pycram_bullet_client.resetJointState(self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_joint"], self._motor_direction[2 * leg_id + 1] * knee_angle, targetVelocity=0) if add_constraint: if leg_id < 2: - self._pybullet_client.createConstraint( + self._pycram_bullet_client.createConstraint( self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_joint"], self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_joint"], - self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_SHORT, + self._pycram_bullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_SHORT, KNEE_CONSTRAINT_POINT_LONG) else: - self._pybullet_client.createConstraint( + self._pycram_bullet_client.createConstraint( self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_joint"], self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_joint"], - self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_LONG, + self._pycram_bullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_LONG, KNEE_CONSTRAINT_POINT_SHORT) if self._accurate_motor_model_enabled or self._pd_control_enabled: - # Disable the default motor in pybullet. - self._pybullet_client.setJointMotorControl2( + # Disable the default motor in pycram_bullet. + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "L_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "R_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) @@ -156,15 +156,15 @@ def _ResetPoseForLeg(self, leg_id, add_constraint): self._SetDesiredMotorAngleByName("motor_" + leg_position + "R_joint", self._motor_direction[2 * leg_id + 1] * half_pi) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "L_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "R_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py similarity index 80% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py index a9492f309c..235d41e064 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py @@ -5,8 +5,8 @@ import numpy as np #from google3.pyglib import flags #from google3.pyglib import gfile -from pybullet_envs.minitaur.envs import minitaur -from pybullet_envs.minitaur.envs import minitaur_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env #flags.DEFINE_string( # 'terrain_dir', '/cns/od-d/home/brain-minitaur/terrain_obj', @@ -28,25 +28,25 @@ class MinitaurRandomizeTerrainGymEnv(minitaur_gym_env.MinitaurGymEnv): """ def reset(self): - self._pybullet_client.resetSimulation() - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.resetSimulation() + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=self._num_bullet_solver_iterations) - self._pybullet_client.setTimeStep(self._time_step) + self._pycram_bullet_client.setTimeStep(self._time_step) terrain_visual_shape_id = -1 terrain_mass = 0 terrain_position = [0, 0, 0] terrain_orientation = [0, 0, 0, 1] terrain_file_name = self.load_random_terrain(FLAGS.terrain_dir) - terrain_collision_shape_id = self._pybullet_client.createCollisionShape( - shapeType=self._pybullet_client.GEOM_MESH, + terrain_collision_shape_id = self._pycram_bullet_client.createCollisionShape( + shapeType=self._pycram_bullet_client.GEOM_MESH, fileName=terrain_file_name, flags=1, meshScale=[0.5, 0.5, 0.5]) - self._pybullet_client.createMultiBody(terrain_mass, terrain_collision_shape_id, + self._pycram_bullet_client.createMultiBody(terrain_mass, terrain_collision_shape_id, terrain_visual_shape_id, terrain_position, terrain_orientation) - self._pybullet_client.setGravity(0, 0, -10) - self.minitaur = (minitaur.Minitaur(pybullet_client=self._pybullet_client, + self._pycram_bullet_client.setGravity(0, 0, -10) + self.minitaur = (minitaur.Minitaur(pycram_bullet_client=self._pycram_bullet_client, urdf_root=self._urdf_root, time_step=self._time_step, self_collision_enabled=self._self_collision_enabled, @@ -57,7 +57,7 @@ def reset(self): for _ in xrange(100): if self._pd_control_enabled: self.minitaur.ApplyAction([math.pi / 2] * 8) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() return self._get_observation() def load_random_terrain(self, terrain_dir): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env_example.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env_example.py index ad329136a2..f6d89d89ac 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env_example.py @@ -8,7 +8,7 @@ import tf.compat.v1 as tf #from google3.pyglib import app #from google3.pyglib import flags -from pybullet_envs.minitaur.envs import minitaur_randomize_terrain_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur_randomize_terrain_gym_env FLAGS = flags.FLAGS diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py index 7f899cb4a8..920dbbcbc7 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py @@ -11,7 +11,7 @@ import math from gym import spaces import numpy as np -from pybullet_envs.minitaur.envs import minitaur_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env INIT_EXTENSION_POS = 2.0 INIT_SWING_POS = 0.0 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env_example.py similarity index 86% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env_example.py index d4f70a2eef..e540aea7ac 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env_example.py @@ -14,13 +14,13 @@ os.sys.path.insert(0, parentdir) import tf.compat.v1 as tf -from pybullet_envs.minitaur.agents.scripts import utility -import pybullet_data -from pybullet_envs.minitaur.envs import simple_ppo_agent +from pycram_bullet_envs.minitaur.agents.scripts import utility +import pycram_bullet_data +from pycram_bullet_envs.minitaur.envs import simple_ppo_agent flags = tf.app.flags FLAGS = tf.app.flags.FLAGS -LOG_DIR = os.path.join(pybullet_data.getDataPath(), "policies/ppo/minitaur_reactive_env") +LOG_DIR = os.path.join(pycram_bullet_data.getDataPath(), "policies/ppo/minitaur_reactive_env") CHECKPOINT = "model.ckpt-14000000" diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py index 446a3156a6..5e314c59da 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py @@ -7,8 +7,8 @@ from gym import spaces import numpy as np -from pybullet_envs.minitaur.envs import minitaur_gym_env -import pybullet_data +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env +import pycram_bullet_data ACTION_EPS = 0.01 # RANGE_OF_LEG_MOTION defines how far legs can rotate in both directions @@ -32,7 +32,7 @@ class MinitaurStandGymEnv(minitaur_gym_env.MinitaurGymEnv): metadata = {"render.modes": ["human", "rgb_array"], "video.frames_per_second": 50} def __init__(self, - urdf_root=pybullet_data.getDataPath(), + urdf_root=pycram_bullet_data.getDataPath(), action_repeat=1, observation_noise_stdev=minitaur_gym_env.SENSOR_NOISE_STDDEV, self_collision_enabled=True, @@ -81,12 +81,12 @@ def _stand_up(self): for t in range(5000): if self._is_render: base_pos = self.minitaur.GetBasePosition() - self._pybullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, + self._pycram_bullet_client.resetDebugVisualizerCamera(self._cam_dist, self._cam_yaw, self._cam_pitch, base_pos) state = self._get_true_observation() action = self._policy_flip(t, state[24:28]) self.minitaur.ApplyAction(action) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.minitaur.ReceiveObservation() if self._is_render: time.sleep(self._time_step) @@ -113,7 +113,7 @@ def _reward(self): the robot. """ orientation = self.minitaur.GetBaseOrientation() - rot_matrix = self._pybullet_client.getMatrixFromQuaternion(orientation) + rot_matrix = self._pycram_bullet_client.getMatrixFromQuaternion(orientation) local_front_vec = rot_matrix[6:9] alignment = abs(np.dot(np.asarray([1, 0, 0]), np.asarray(local_front_vec))) return alignment**4 @@ -133,7 +133,7 @@ def _is_horizontal(self): the ground. """ orientation = self.minitaur.GetBaseOrientation() - rot_matrix = self._pybullet_client.getMatrixFromQuaternion(orientation) + rot_matrix = self._pycram_bullet_client.getMatrixFromQuaternion(orientation) front_z_component = rot_matrix[6] return abs(front_z_component) < LIMIT_FALLEN @@ -202,7 +202,7 @@ def _policy_flip(self, time_step, orientation): a7 = math.pi / 2 + shorten # Rotate back legs to point to the ground independent of the orientation. - rot_matrix = self._pybullet_client.getMatrixFromQuaternion(orientation) + rot_matrix = self._pycram_bullet_client.getMatrixFromQuaternion(orientation) local_up = rot_matrix[6:] multiplier = np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) a2 -= (1 - multiplier) * (math.pi / 2) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env_example.py similarity index 91% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env_example.py index 16bae5f71b..a854205b60 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env_example.py @@ -7,7 +7,7 @@ import numpy as np import tf.compat.v1 as tf -from pybullet_envs.minitaur.envs import minitaur_stand_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur_stand_gym_env def StandUpExample(): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env.py index e79e54926b..9a5727d10a 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env.py @@ -4,7 +4,7 @@ from gym import spaces import numpy as np -from pybullet_envs.minitaur.envs import minitaur_gym_env +from pycram_bullet_envs.minitaur.envs import minitaur_gym_env # TODO(tingnan): These constants should be moved to minitaur/minitaur_gym_env. NUM_LEGS = 4 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env_example.py similarity index 83% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env_example.py index 604a902616..d477584ce7 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env_example.py @@ -7,13 +7,13 @@ import os import time import tf.compat.v1 as tf -from pybullet_envs.minitaur.agents.scripts import utility -import pybullet_data -from pybullet_envs.minitaur.envs import simple_ppo_agent +from pycram_bullet_envs.minitaur.agents.scripts import utility +import pycram_bullet_data +from pycram_bullet_envs.minitaur.envs import simple_ppo_agent flags = tf.app.flags FLAGS = tf.app.flags.FLAGS -LOG_DIR = os.path.join(pybullet_data.getDataPath(), "policies/ppo/minitaur_trotting_env") +LOG_DIR = os.path.join(pycram_bullet_data.getDataPath(), "policies/ppo/minitaur_trotting_env") CHECKPOINT = "model.ckpt-14000000" diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/motor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/motor.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/motor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/motor.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent.py index aa329fb0e7..533e55021d 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent.py @@ -5,8 +5,8 @@ from __future__ import print_function import tf.compat.v1 as tf -from pybullet_envs.agents.ppo import normalize -from pybullet_envs.agents import utility +from pycram_bullet_envs.agents.ppo import normalize +from pycram_bullet_envs.agents import utility class SimplePPOPolicy(object): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent_example.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent_example.py index fbca0cca7e..081172bbee 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/simple_ppo_agent_example.py @@ -24,8 +24,8 @@ import time import tf.compat.v1 as tf -from pybullet_envs.agents import utility -from pybullet_envs.minitaur.agents import simple_ppo_agent +from pycram_bullet_envs.agents import utility +from pycram_bullet_envs.minitaur.agents import simple_ppo_agent flags = tf.app.flags FLAGS = tf.app.flags.FLAGS diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/timestamp.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/timestamp.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp_pb2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/timestamp_pb2.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp_pb2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/timestamp_pb2.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/vector.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/vector.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/vector.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/vector.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/vector_pb2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/vector_pb2.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs/vector_pb2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs/vector_pb2.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/base_client.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/base_client.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/base_client.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/base_client.py index 523780124a..c118b5b052 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/base_client.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/base_client.py @@ -8,7 +8,7 @@ class ClientType(enum.Enum): """Type of client.""" - BULLET = "pybullet" + BULLET = "pycram_bullet" diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/curriculum_reset_helpers.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/curriculum_reset_helpers.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/curriculum_reset_helpers.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/curriculum_reset_helpers.py index 86fa8cfc3f..b333069bf4 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/curriculum_reset_helpers.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/curriculum_reset_helpers.py @@ -1,7 +1,7 @@ """Implements dynamic locomotion gym env that changes based on iteration.""" import gin -import pybullet +import pycram_bullet # TODO(b/142642890): Make this reset to the initial world state first. @@ -55,8 +55,8 @@ def gap_world_curriculum_update(env, """ ground = env.scene.ground_ids - pos = pybullet.getBasePositionAndOrientation(ground[-1])[0] + pos = pycram_bullet.getBasePositionAndOrientation(ground[-1])[0] # Linearly increase the gap width to 0.5m by the last iteration. next_x = initial_second_block_x + gap_delta * min(max_iterations, num_iter) - pybullet.resetBasePositionAndOrientation(ground[-1], (next_x, pos[1], pos[2]), + pycram_bullet.resetBasePositionAndOrientation(ground[-1], (next_x, pos[1], pos[2]), [0, 0, 0, 1]) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_loader.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_loader.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_loader.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_loader.py index aa4afe4953..be52c0fd9e 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_loader.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_loader.py @@ -5,8 +5,8 @@ from __future__ import print_function import gin -from pybullet_envs.minitaur.envs_v2 import locomotion_gym_env -from pybullet_envs.minitaur.envs_v2 import multiagent_mobility_gym_env +from pycram_bullet_envs.minitaur.envs_v2 import locomotion_gym_env +from pycram_bullet_envs.minitaur.envs_v2 import multiagent_mobility_gym_env ROBOT_FIELD_IN_CONFIG = 'robot_params' TASK_FIELD_IN_CONFIG = 'task_params' diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/action_denormalize_wrapper.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/action_denormalize_wrapper.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/action_denormalize_wrapper.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/action_denormalize_wrapper.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py index e59306fdd9..baacd23a2f 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py @@ -9,7 +9,7 @@ import gin from gym import spaces import numpy as np -from pybullet_envs.minitaur.envs.utilities import laikago_pose_utils +from pycram_bullet_envs.minitaur.envs.utilities import laikago_pose_utils TROT_GAIT = "trot" PACE_GAIT = "pace" diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/curriculum_wrapper_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/curriculum_wrapper_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/curriculum_wrapper_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/curriculum_wrapper_env.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/depth_uv_to_footplacement_wrapper.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/depth_uv_to_footplacement_wrapper.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/depth_uv_to_footplacement_wrapper.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/depth_uv_to_footplacement_wrapper.py index 4b86b6df6c..ba1590c54f 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/depth_uv_to_footplacement_wrapper.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/depth_uv_to_footplacement_wrapper.py @@ -7,9 +7,9 @@ import gym import numpy as np -from pybullet_envs.minitaur.robots import laikago_kinematic_constants -from pybullet_envs.minitaur.robots import quadruped_base -from pybullet_envs.minitaur.robots import wheeled_robot_base_sim +from pycram_bullet_envs.minitaur.robots import laikago_kinematic_constants +from pycram_bullet_envs.minitaur.robots import quadruped_base +from pycram_bullet_envs.minitaur.robots import wheeled_robot_base_sim UNIT_QUATERNION = (0, 0, 0, 1) # A small gap between the target foot position and the floor. @@ -299,34 +299,34 @@ def _construct_foot_trajectories(self, alpha, swing_foot_start_position, def _create_foot_placement_visualization(self): """Creates a visualization sphere that represents the foothold position.""" - visual_id = self._gym_env.pybullet_client.createVisualShape( - self._gym_env.pybullet_client.GEOM_SPHERE, + visual_id = self._gym_env.pycram_bullet_client.createVisualShape( + self._gym_env.pycram_bullet_client.GEOM_SPHERE, radius=0.02, rgbaColor=[0.7, 0.7, 0.7, 1]) - self._foothold_visual_body = self._gym_env.pybullet_client.createMultiBody( + self._foothold_visual_body = self._gym_env.pycram_bullet_client.createMultiBody( baseMass=0, baseVisualShapeIndex=visual_id, basePosition=[0, 0, 0]) def _update_foothold_visualization(self, action): """Moves the visualization sphere that represents the next foothold.""" foothold_xyz = self.task.get_foothold_location( action, use_world_frame=True) - self._gym_env.pybullet_client.resetBasePositionAndOrientation( + self._gym_env.pycram_bullet_client.resetBasePositionAndOrientation( self._foothold_visual_body, foothold_xyz, UNIT_QUATERNION) def _create_com_visualization(self): """Creates visualization boxes for COM and support polygon center.""" - visual_id = self._gym_env.pybullet_client.createVisualShape( - self._gym_env.pybullet_client.GEOM_BOX, + visual_id = self._gym_env.pycram_bullet_client.createVisualShape( + self._gym_env.pycram_bullet_client.GEOM_BOX, halfExtents=COM_VIZ_BOX_SIZE, rgbaColor=[0.7, 0.5, 0.5, 1]) - self._support_polygon_center_visual_body = self._gym_env.pybullet_client.createMultiBody( + self._support_polygon_center_visual_body = self._gym_env.pycram_bullet_client.createMultiBody( baseMass=0, baseVisualShapeIndex=visual_id, basePosition=[0, 0, 0]) - visual_id = self._gym_env.pybullet_client.createVisualShape( - self._gym_env.pybullet_client.GEOM_BOX, + visual_id = self._gym_env.pycram_bullet_client.createVisualShape( + self._gym_env.pycram_bullet_client.GEOM_BOX, halfExtents=COM_VIZ_BOX_SIZE, rgbaColor=[0.5, 0.75, 0.5, 1]) - self._projected_com_visual_body = self._gym_env.pybullet_client.createMultiBody( + self._projected_com_visual_body = self._gym_env.pycram_bullet_client.createMultiBody( baseMass=0, baseVisualShapeIndex=visual_id, basePosition=[0, 0, 0]) def _update_com_visualization(self): @@ -339,13 +339,13 @@ def _update_com_visualization(self): support_polygon_center_global += toe_positions[i] * _SUPPORT_WEIGHT_MAP[ self.task.next_swing_foot_id][i] support_polygon_center_global[2] = 0.0 - self._gym_env.pybullet_client.resetBasePositionAndOrientation( + self._gym_env.pycram_bullet_client.resetBasePositionAndOrientation( self._support_polygon_center_visual_body, support_polygon_center_global, UNIT_QUATERNION) com = np.copy(self._gym_env.robot.base_position) com[2] = 0.0 - self._gym_env.pybullet_client.resetBasePositionAndOrientation( + self._gym_env.pycram_bullet_client.resetBasePositionAndOrientation( self._projected_com_visual_body, com, UNIT_QUATERNION) @property diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/ik_based_wrapper_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/ik_based_wrapper_env.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/ik_based_wrapper_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/ik_based_wrapper_env.py index da80bf159b..f49067783e 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/ik_based_wrapper_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/ik_based_wrapper_env.py @@ -7,8 +7,8 @@ import gin import gym import numpy as np -from pybullet_envs.minitaur.robots import vision60 -from pybullet_envs.minitaur.robots.utilities import kinematics +from pycram_bullet_envs.minitaur.robots import vision60 +from pycram_bullet_envs.minitaur.robots.utilities import kinematics ACTION_DIM_PER_LEG = 3 ACTION_DIM_BASE = 7 @@ -27,9 +27,9 @@ def __init__(self, Args: gym_env: An instance of LocomotionGymEnv. - toe_indices: A list of four pybullet joint indices for the four toes. [3, + toe_indices: A list of four pycram_bullet joint indices for the four toes. [3, 7, 11, 15] for the vision60. - abduction_motor_ids: A list of four pybullet joint indices for the four + abduction_motor_ids: A list of four pycram_bullet joint indices for the four abuduction motors. [0, 3, 6, 9] for the vision60. """ lower_bound = np.array([-1.0] * ACTION_DIM_TOTAL) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/imitation_wrapper_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/imitation_wrapper_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/imitation_wrapper_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/imitation_wrapper_env.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/mpc_locomotion_wrapper.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/mpc_locomotion_wrapper.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/mpc_locomotion_wrapper.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/mpc_locomotion_wrapper.py index faebcdfead..3e58f1ac88 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/mpc_locomotion_wrapper.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/mpc_locomotion_wrapper.py @@ -9,13 +9,13 @@ import gym import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import com_height_estimator -from pybullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib -from pybullet_envs.minitaur.agents.baseline_controller import imu_based_com_velocity_estimator -from pybullet_envs.minitaur.agents.baseline_controller import multi_state_estimator -from pybullet_envs.minitaur.agents.baseline_controller import openloop_gait_generator -from pybullet_envs.minitaur.agents.baseline_controller import torque_stance_leg_controller -from pybullet_envs.minitaur.robots import laikago_kinematic_constants +from pycram_bullet_envs.minitaur.agents.baseline_controller import com_height_estimator +from pycram_bullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib +from pycram_bullet_envs.minitaur.agents.baseline_controller import imu_based_com_velocity_estimator +from pycram_bullet_envs.minitaur.agents.baseline_controller import multi_state_estimator +from pycram_bullet_envs.minitaur.agents.baseline_controller import openloop_gait_generator +from pycram_bullet_envs.minitaur.agents.baseline_controller import torque_stance_leg_controller +from pycram_bullet_envs.minitaur.robots import laikago_kinematic_constants _UNIT_QUATERNION = (0, 0, 0, 1) _NUM_LEGS = laikago_kinematic_constants.NUM_LEGS @@ -487,7 +487,7 @@ def reset(self, **kwargs): # Change feet friction. for link_id in list( self.robot.urdf_loader.get_end_effector_id_dict().values()): - self.pybullet_client.changeDynamics( + self.pycram_bullet_client.changeDynamics( self.robot.robot_id, link_id, lateralFriction=self._foot_friction_coeff) @@ -568,9 +568,9 @@ def _get_toe_tracking_target(self, lift_off_position, phase, swing_clearance, """ # Up vector in the world coordinate (without considering yaw). rotated_up_vec = np.array( - self.pybullet_client.multiplyTransforms( + self.pycram_bullet_client.multiplyTransforms( (0, 0, 0), - self.pybullet_client.getQuaternionFromEuler( + self.pycram_bullet_client.getQuaternionFromEuler( (self.robot.base_roll_pitch_yaw[0], self.robot.base_roll_pitch_yaw[1], 0)), (0, 0, 1), _UNIT_QUATERNION)[0]) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/observation_dictionary_to_array_wrapper.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/observation_dictionary_to_array_wrapper.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/observation_dictionary_to_array_wrapper.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/observation_dictionary_to_array_wrapper.py index 34e6049ccd..8e5a3529e2 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/observation_dictionary_to_array_wrapper.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/observation_dictionary_to_array_wrapper.py @@ -6,7 +6,7 @@ import gym import gin -from pybullet_envs.minitaur.envs_v2.utilities import env_utils +from pycram_bullet_envs.minitaur.envs_v2.utilities import env_utils @gin.configurable diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_inplace_wrapper_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_inplace_wrapper_env.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_inplace_wrapper_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_inplace_wrapper_env.py index 0a274d3996..98679215b9 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_inplace_wrapper_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_inplace_wrapper_env.py @@ -7,9 +7,9 @@ from gym import spaces import numpy as np import gin -from pybullet_envs.minitaur.agents.trajectory_generator import tg_inplace -from pybullet_envs.minitaur.envs.utilities import laikago_pose_utils -from pybullet_envs.minitaur.envs.utilities import minitaur_pose_utils +from pycram_bullet_envs.minitaur.agents.trajectory_generator import tg_inplace +from pycram_bullet_envs.minitaur.envs.utilities import laikago_pose_utils +from pycram_bullet_envs.minitaur.envs.utilities import minitaur_pose_utils _NUM_LEGS = 4 _LAIKAGO_NUM_ACTIONS = 12 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_wrapper_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_wrapper_env.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_wrapper_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_wrapper_env.py index 1df14a2965..20114d1cd8 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_wrapper_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_wrapper_env.py @@ -6,9 +6,9 @@ from gym import spaces import numpy as np import gin -from pybullet_envs.minitaur.agents.trajectory_generator import tg_simple -from pybullet_envs.minitaur.envs_v2.utilities import robot_pose_utils -from pybullet_envs.minitaur.robots.utilities import action_filter +from pycram_bullet_envs.minitaur.agents.trajectory_generator import tg_simple +from pycram_bullet_envs.minitaur.envs_v2.utilities import robot_pose_utils +from pycram_bullet_envs.minitaur.robots.utilities import action_filter _DELTA_TIME_LOWER_BOUND = 0.0 _DELTA_TIME_UPPER_BOUND = 3 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/simple_openloop.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/simple_openloop.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/simple_openloop.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/simple_openloop.py index 65cb6446f2..f7d6d7ac35 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/simple_openloop.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/simple_openloop.py @@ -9,8 +9,8 @@ import numpy as np import gin -from pybullet_envs.minitaur.envs_v2.utilities import laikago_pose_utils -from pybullet_envs.minitaur.envs_v2.utilities import minitaur_pose_utils +from pycram_bullet_envs.minitaur.envs_v2.utilities import laikago_pose_utils +from pycram_bullet_envs.minitaur.envs_v2.utilities import minitaur_pose_utils @gin.configurable diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/state_machine_based_wrapper_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/state_machine_based_wrapper_env.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/state_machine_based_wrapper_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/state_machine_based_wrapper_env.py index 56a92dcd06..3f51327f34 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/state_machine_based_wrapper_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/state_machine_based_wrapper_env.py @@ -243,12 +243,12 @@ def _update_local_toe_positions(self): identity_orientation = [0, 0, 0, 1] base_position = self.robot.GetBasePosition() base_orientation = self.robot.GetBaseOrientation() - inv_base_position, inv_base_orientation = self.pybullet_client.invertTransform( + inv_base_position, inv_base_orientation = self.pycram_bullet_client.invertTransform( base_position, base_orientation) for toe_index in range(NUM_LEGS): - toe_pose_world = self.pybullet_client.getLinkState( + toe_pose_world = self.pycram_bullet_client.getLinkState( self.robot.quadruped, self._toe_link_indices[toe_index])[0] - toe_pos_local, _ = self.pybullet_client.multiplyTransforms( + toe_pos_local, _ = self.pycram_bullet_client.multiplyTransforms( inv_base_position, inv_base_orientation, toe_pose_world, identity_orientation) self.current_local_toe_positions[toe_index] = np.array(toe_pos_local) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/step_based_curriculum_wrapper_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/step_based_curriculum_wrapper_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/step_based_curriculum_wrapper_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/step_based_curriculum_wrapper_env.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/trajectory_generator_wrapper_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/trajectory_generator_wrapper_env.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/trajectory_generator_wrapper_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/trajectory_generator_wrapper_env.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/walking_wrapper.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/walking_wrapper.py similarity index 90% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/walking_wrapper.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/walking_wrapper.py index 6235a85363..2e8f8e0aaa 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/walking_wrapper.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/walking_wrapper.py @@ -5,11 +5,11 @@ from gym import spaces import numpy as np -from pybullet_envs.minitaur.agents.baseline_controller import com_velocity_estimator -from pybullet_envs.minitaur.agents.baseline_controller import locomotion_controller -from pybullet_envs.minitaur.agents.baseline_controller import openloop_gait_generator -from pybullet_envs.minitaur.agents.baseline_controller import raibert_swing_leg_controller -from pybullet_envs.minitaur.agents.baseline_controller import torque_stance_leg_controller +from pycram_bullet_envs.minitaur.agents.baseline_controller import com_velocity_estimator +from pycram_bullet_envs.minitaur.agents.baseline_controller import locomotion_controller +from pycram_bullet_envs.minitaur.agents.baseline_controller import openloop_gait_generator +from pycram_bullet_envs.minitaur.agents.baseline_controller import raibert_swing_leg_controller +from pycram_bullet_envs.minitaur.agents.baseline_controller import torque_stance_leg_controller _N_LEGS = 4 _STANCE_DURATION_SECONDS = [ diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_logger.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_logger.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_logger.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_logger.py index 05d24b4e1a..98d4afdc02 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_logger.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_logger.py @@ -5,7 +5,7 @@ from typing import Any, Callable, Dict, Sequence, Text, Union import numpy as np -from pybullet_envs.minitaur.envs_v2.evaluation import metric as metric_lib +from pycram_bullet_envs.minitaur.envs_v2.evaluation import metric as metric_lib def _merge_dict_throw_on_duplicates( diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_utils.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_utils.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_mpc_wrapper_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_mpc_wrapper_example.py similarity index 87% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_mpc_wrapper_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_mpc_wrapper_example.py index 5c6c01194f..a2b1cfb8fb 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_mpc_wrapper_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_mpc_wrapper_example.py @@ -19,9 +19,9 @@ from absl import flags import gin import numpy as np -import pybullet_data as pd +import pycram_bullet_data as pd -from pybullet_envs.minitaur.envs_v2 import env_loader +from pycram_bullet_envs.minitaur.envs_v2 import env_loader FLAGS = flags.FLAGS flags.DEFINE_string("video_file", None, "The filename for saving the videos.") @@ -64,9 +64,9 @@ def _run_example(): env.reset() if FLAGS.video_file is not None: - pybullet = env.pybullet_client - pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0) - log_id = pybullet.startStateLogging(pybullet.STATE_LOGGING_VIDEO_MP4, + pycram_bullet = env.pycram_bullet_client + pycram_bullet.configureDebugVisualizer(pycram_bullet.COV_ENABLE_GUI, 0) + log_id = pycram_bullet.startStateLogging(pycram_bullet.STATE_LOGGING_VIDEO_MP4, FLAGS.video_file) try: @@ -84,7 +84,7 @@ def _run_example(): _ = env.step(action) finally: if FLAGS.video_dir is not None: - pybullet.stopStateLogging(log_id) + pycram_bullet.stopStateLogging(log_id) def main(argv): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_pmtg_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_pmtg_example.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_pmtg_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_pmtg_example.py index d791dd18a7..0bffd30842 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_pmtg_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_pmtg_example.py @@ -22,8 +22,8 @@ import gin import sys -from pybullet_envs.minitaur.envs_v2 import env_loader -import pybullet_data as pd +from pycram_bullet_envs.minitaur.envs_v2 import env_loader +import pycram_bullet_data as pd CONFIG_DIR = pd.getDataPath()+"/configs_v2/" CONFIG_FILES = [ diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_static_gait_example.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_static_gait_example.py similarity index 86% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_static_gait_example.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_static_gait_example.py index 13e2387cc5..8db514990d 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_static_gait_example.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_static_gait_example.py @@ -7,9 +7,9 @@ from absl import app from absl import flags import gin -from pybullet_envs.minitaur.agents.baseline_controller import static_gait_controller -from pybullet_envs.minitaur.envs_v2 import env_loader -import pybullet_data as pd +from pycram_bullet_envs.minitaur.agents.baseline_controller import static_gait_controller +from pycram_bullet_envs.minitaur.envs_v2 import env_loader +import pycram_bullet_data as pd flags.DEFINE_bool("render", True, "Whether to render the example.") diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py index 38c33c02a7..65cf503198 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py @@ -8,7 +8,7 @@ import numpy as np import gym import time -import pybullet_envs +import pycram_bullet_envs try: import tds_environments except: @@ -22,10 +22,10 @@ import os import gin -from pybullet_envs.minitaur.envs_v2 import env_loader +from pycram_bullet_envs.minitaur.envs_v2 import env_loader -import pybullet_data as pd +import pycram_bullet_data as pd diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py index f04404f3e3..86a6288b94 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py @@ -25,8 +25,8 @@ import os import gin -from pybullet_envs.minitaur.envs_v2 import env_loader -import pybullet_data as pd +from pycram_bullet_envs.minitaur.envs_v2 import env_loader +import pycram_bullet_data as pd @@ -66,7 +66,7 @@ def __init__(self, env_seed, # initialize OpenAI environment for each worker try: - import pybullet_envs + import pycram_bullet_envs except: pass try: @@ -206,7 +206,7 @@ def __init__(self, env_name='HalfCheetah-v1', logz.configure_output_dir(logdir) logz.save_params(params) try: - import pybullet_envs + import pycram_bullet_envs except: pass try: @@ -424,7 +424,7 @@ def run_ars(params): os.makedirs(logdir) try: - import pybullet_envs + import pycram_bullet_envs except: pass try: diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config_test.py similarity index 90% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config_test.py index 343b58db03..107542ce80 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config_test.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config_test.py @@ -1,11 +1,11 @@ -"""Tests for pybullet_envs.minitaur.envs.locomotion_gym_config.""" +"""Tests for pycram_bullet_envs.minitaur.envs.locomotion_gym_config.""" from __future__ import absolute_import from __future__ import division from __future__ import print_function import gin -from pybullet_envs.minitaur.envs_v2 import locomotion_gym_config +from pycram_bullet_envs.minitaur.envs_v2 import locomotion_gym_config import unittest from absl.testing import parameterized @@ -15,7 +15,7 @@ class LocomotionGymConfigTest(unittest.TestCase): def testSimulationParametersFromGinString(self): config_text = ( - 'import pybullet_envs.minitaur' + 'import pycram_bullet_envs.minitaur' '.envs_v2.locomotion_gym_config\n' 'locomotion_gym_config.SimulationParameters.sim_time_step_s = 0.005\n' 'locomotion_gym_config.SimulationParameters.camera_distance = 5.0\n' @@ -33,7 +33,7 @@ def testSimulationParametersFromGinString(self): def testScalarFieldFromGinString(self): config_text = ( - 'import pybullet_envs.minitaur' + 'import pycram_bullet_envs.minitaur' '.envs_v2.locomotion_gym_config\n' 'locomotion_gym_config.ScalarField.name = "MotorUpperLimit"\n' 'locomotion_gym_config.ScalarField.upper_bound = 1.0\n' @@ -48,7 +48,7 @@ def testScalarFieldFromGinString(self): def testLocomotionGymConfigFromGinString(self): config_text = ( - 'import pybullet_envs.minitaur' + 'import pycram_bullet_envs.minitaur' '.envs_v2.locomotion_gym_config\n' # SimulationParameters 'locomotion_gym_config.SimulationParameters.sim_time_step_s = 0.005\n' diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py similarity index 86% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py index b98d3b0056..68098e8c42 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py @@ -9,21 +9,21 @@ import gym import numpy as np -from pybullet_envs.minitaur.envs_v2 import base_client -from pybullet_utils import bullet_client -import pybullet_data -import pybullet -from pybullet_envs.minitaur.envs import minitaur_logging -from pybullet_envs.minitaur.envs import minitaur_logging_pb2 -#from pybullet_envs.minitaur.envs import minitaur_logging -#from pybullet_envs.minitaur.envs import minitaur_logging_pb2 -from pybullet_envs.minitaur.envs_v2.evaluation import metric_logger -from pybullet_envs.minitaur.envs_v2.scenes import scene_base -from pybullet_envs.minitaur.envs_v2.sensors import sensor -from pybullet_envs.minitaur.envs_v2.sensors import space_utils -from pybullet_envs.minitaur.envs_v2.utilities import rendering_utils -from pybullet_envs.minitaur.robots import autonomous_object -from pybullet_envs.minitaur.robots import robot_base +from pycram_bullet_envs.minitaur.envs_v2 import base_client +from pycram_bullet_utils import bullet_client +import pycram_bullet_data +import pycram_bullet +from pycram_bullet_envs.minitaur.envs import minitaur_logging +from pycram_bullet_envs.minitaur.envs import minitaur_logging_pb2 +#from pycram_bullet_envs.minitaur.envs import minitaur_logging +#from pycram_bullet_envs.minitaur.envs import minitaur_logging_pb2 +from pycram_bullet_envs.minitaur.envs_v2.evaluation import metric_logger +from pycram_bullet_envs.minitaur.envs_v2.scenes import scene_base +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.envs_v2.sensors import space_utils +from pycram_bullet_envs.minitaur.envs_v2.utilities import rendering_utils +from pycram_bullet_envs.minitaur.robots import autonomous_object +from pycram_bullet_envs.minitaur.robots import robot_base _ACTION_EPS = 0.01 _NUM_SIMULATION_ITERATION_STEPS = 300 @@ -74,13 +74,13 @@ def __init__(self, randomize the physical property of minitaur, change the terrrain during reset(), or add perturbation forces during step(). client_factory: A function to create a simulation client, it can be a - pybullet client. + pycram_bullet client. Raises: ValueError: If the num_action_repeat is less than 1. """ - self._pybullet_client = None + self._pycram_bullet_client = None self._metric_logger = metric_logger.MetricLogger() # TODO(sehoonha) split observation and full-state sensors (b/129858214) @@ -124,7 +124,7 @@ def __init__(self, self._sim_time_step = gym_config.simulation_parameters.sim_time_step_s # The sim step counter is an internal varialbe to count the number of - # pybullet stepSimulation() has been called since last reset. + # pycram_bullet stepSimulation() has been called since last reset. self._sim_step_counter = 0 self._env_time_step = self._num_action_repeat * self._sim_time_step @@ -143,23 +143,23 @@ def __init__(self, self._last_frame_time = 0.0 if gym_config.simulation_parameters.enable_rendering: - self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI) - self._pybullet_client.configureDebugVisualizer( - pybullet.COV_ENABLE_GUI, + self._pycram_bullet_client = bullet_client.BulletClient(connection_mode=pycram_bullet.GUI) + self._pycram_bullet_client.configureDebugVisualizer( + pycram_bullet.COV_ENABLE_GUI, gym_config.simulation_parameters.enable_rendering_gui) else: - self._pybullet_client = bullet_client.BulletClient() + self._pycram_bullet_client = bullet_client.BulletClient() if gym_config.simulation_parameters.egl_rendering: - self._pybullet_client.loadPlugin('eglRendererPlugin') + self._pycram_bullet_client.loadPlugin('eglRendererPlugin') - self._pybullet_client.setAdditionalSearchPath( - pybullet_data.getDataPath()) + self._pycram_bullet_client.setAdditionalSearchPath( + pycram_bullet_data.getDataPath()) # If enabled, save the performance profile to profiling_path # Use Google Chrome about://tracing to open the file if gym_config.profiling_path is not None: - self._profiling_slot = self._pybullet_client.startStateLogging( - self._pybullet_client.STATE_LOGGING_PROFILE_TIMINGS, + self._profiling_slot = self._pycram_bullet_client.startStateLogging( + self._pycram_bullet_client.STATE_LOGGING_PROFILE_TIMINGS, gym_config.profiling_path) self._profiling_counter = 10 else: @@ -192,7 +192,7 @@ def __del__(self): def _load_old_robot_class(self): self._robot = self._robot_class( - pybullet_client=self._pybullet_client, on_rack=self._on_rack) + pycram_bullet_client=self._pycram_bullet_client, on_rack=self._on_rack) self._action_list = [] action_upper_bound = [] action_lower_bound = [] @@ -207,24 +207,24 @@ def _load_old_robot_class(self): def _load_new_robot_class(self): self._robot = self._robot_class( - pybullet_client=self._pybullet_client, clock=self._clock) + pycram_bullet_client=self._pycram_bullet_client, clock=self._clock) self.action_space = self._robot.action_space def _load(self): - self._pybullet_client.resetSimulation() - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.resetSimulation() + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=self._num_bullet_solver_iterations) - self._pybullet_client.setTimeStep(self._sim_time_step) - self._pybullet_client.setGravity(0, 0, -10) - self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0) + self._pycram_bullet_client.setTimeStep(self._sim_time_step) + self._pycram_bullet_client.setGravity(0, 0, -10) + self._pycram_bullet_client.setPhysicsEngineParameter(enableConeFriction=0) # Disable rendering during scene loading will speed up simulation. if self._is_render: - self._pybullet_client.configureDebugVisualizer( - self._pybullet_client.COV_ENABLE_RENDERING, 0) + self._pycram_bullet_client.configureDebugVisualizer( + self._pycram_bullet_client.COV_ENABLE_RENDERING, 0) # Rebuild the scene. - self._scene.build_scene(self._pybullet_client) + self._scene.build_scene(self._pycram_bullet_client) # TODO(b/151975607): Deprecate old robot support. if self._use_new_robot_class: @@ -244,12 +244,12 @@ def _load(self): # Enable rendering after loading finishes. if self._is_render: - self._pybullet_client.configureDebugVisualizer( - self._pybullet_client.COV_ENABLE_RENDERING, 1) + self._pycram_bullet_client.configureDebugVisualizer( + self._pycram_bullet_client.COV_ENABLE_RENDERING, 1) def close(self): atexit.unregister(self.close) - #if self._pybullet_client: + #if self._pycram_bullet_client: if self._log_path is not None: self._logging.save_episode(self._episode_proto) @@ -260,9 +260,9 @@ def close(self): self._robot.terminate() else: self._robot.Terminate() - if self._pybullet_client: - self._pybullet_client.disconnect() - self._pybullet_client = None + if self._pycram_bullet_client: + self._pycram_bullet_client.disconnect() + self._pycram_bullet_client = None def seed(self, seed=None): self.np_random, self.np_random_seed = gym.utils.seeding.np_random(seed) @@ -360,7 +360,7 @@ def reset( # TODO(b/152161124): Move this part to the renderer module. if reset_visualization_camera: - self._pybullet_client.resetDebugVisualizerCamera(self._camera_dist, + self._pycram_bullet_client.resetDebugVisualizerCamera(self._camera_dist, self._camera_yaw, self._camera_pitch, [0, 0, 0]) @@ -405,8 +405,8 @@ def _wait_for_rendering(self): time.sleep(time_to_sleep) # Also keep the previous orientation of the camera set by the user. - [yaw, pitch, dist] = self._pybullet_client.getDebugVisualizerCamera()[8:11] - self._pybullet_client.resetDebugVisualizerCamera(dist, yaw, pitch, + [yaw, pitch, dist] = self._pycram_bullet_client.getDebugVisualizerCamera()[8:11] + self._pycram_bullet_client.resetDebugVisualizerCamera(dist, yaw, pitch, self._last_base_position) def _step_old_robot_class(self, action): @@ -424,7 +424,7 @@ def _step_old_robot_class(self, action): if self._profiling_slot >= 0: self._profiling_counter -= 1 if self._profiling_counter == 0: - self._pybullet_client.stopStateLogging(self._profiling_slot) + self._pycram_bullet_client.stopStateLogging(self._profiling_slot) if self._log_path is not None: minitaur_logging.update_episode_proto(self._episode_proto, self._robot, @@ -464,7 +464,7 @@ def _step_new_robot_class(self, action): obj.update(self.get_time_since_reset(), self._observation_dict) obj.apply_action(autonomous_object.AUTONOMOUS_ACTION) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self._sim_step_counter += 1 self._robot.receive_observation() @@ -481,7 +481,7 @@ def _step_new_robot_class(self, action): if self._profiling_slot >= 0: self._profiling_counter -= 1 if self._profiling_counter == 0: - self._pybullet_client.stopStateLogging(self._profiling_slot) + self._pycram_bullet_client.stopStateLogging(self._profiling_slot) if self._log_path is not None: minitaur_logging.update_episode_proto(self._episode_proto, self._robot, @@ -537,9 +537,9 @@ def render(self, mode='rgb_array'): # configurable. if hasattr(self.scene, 'ground_height'): return rendering_utils.render_topdown( - self._pybullet_client, ground_height=self.scene.ground_height) + self._pycram_bullet_client, ground_height=self.scene.ground_height) else: - return rendering_utils.render_topdown(self._pybullet_client) + return rendering_utils.render_topdown(self._pycram_bullet_client) if mode != 'rgb_array': raise ValueError('Unsupported render mode:{}'.format(mode)) @@ -548,19 +548,19 @@ def render(self, mode='rgb_array'): target_position = self._camera_target else: target_position = self._last_base_position - view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll( + view_matrix = self._pycram_bullet_client.computeViewMatrixFromYawPitchRoll( cameraTargetPosition=target_position, distance=self._camera_dist, yaw=self._camera_yaw, pitch=self._camera_pitch, roll=0, upAxisIndex=2) - proj_matrix = self._pybullet_client.computeProjectionMatrixFOV( + proj_matrix = self._pycram_bullet_client.computeProjectionMatrixFOV( fov=60, aspect=float(self._render_width) / self._render_height, nearVal=0.1, farVal=100.0) - return rendering_utils.render_image(self._pybullet_client, + return rendering_utils.render_image(self._pycram_bullet_client, self._render_width, self._render_height, view_matrix, proj_matrix) @@ -640,9 +640,9 @@ def set_time_step(self, num_action_repeat, sim_step=0.001): self._env_time_step = sim_step * num_action_repeat self._num_bullet_solver_iterations = int( _NUM_SIMULATION_ITERATION_STEPS / self._num_action_repeat) - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=self._num_bullet_solver_iterations) - self._pybullet_client.setTimeStep(self._sim_time_step) + self._pycram_bullet_client.setTimeStep(self._sim_time_step) if not self._use_new_robot_class: self._robot.SetTimeSteps(self._num_action_repeat, self._sim_time_step) @@ -670,8 +670,8 @@ def observation(self): return self._observation_dict @property - def pybullet_client(self): - return self._pybullet_client + def pycram_bullet_client(self): + return self._pycram_bullet_client @property def robot(self): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py index 1c9ea0e9b9..fe725f6ac7 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py @@ -13,15 +13,15 @@ import unittest from absl.testing import parameterized -from pybullet_envs.minitaur.envs_v2 import locomotion_gym_env -from pybullet_envs.minitaur.envs_v2.evaluation import metric as metric_lib -from pybullet_envs.minitaur.envs_v2.scenes import scene_base -from pybullet_envs.minitaur.envs_v2.scenes import simple_scene -from pybullet_envs.minitaur.envs_v2.tasks import task_interface -from pybullet_envs.minitaur.envs_v2.utilities import env_utils -from pybullet_envs.minitaur.robots import autonomous_object -from pybullet_envs.minitaur.robots import minitaur_v2 -import pybullet_data as pd +from pycram_bullet_envs.minitaur.envs_v2 import locomotion_gym_env +from pycram_bullet_envs.minitaur.envs_v2.evaluation import metric as metric_lib +from pycram_bullet_envs.minitaur.envs_v2.scenes import scene_base +from pycram_bullet_envs.minitaur.envs_v2.scenes import simple_scene +from pycram_bullet_envs.minitaur.envs_v2.tasks import task_interface +from pycram_bullet_envs.minitaur.envs_v2.utilities import env_utils +from pycram_bullet_envs.minitaur.robots import autonomous_object +from pycram_bullet_envs.minitaur.robots import minitaur_v2 +import pycram_bullet_data as pd import unittest diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/multiagent_mobility_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/multiagent_mobility_gym_env.py similarity index 86% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/multiagent_mobility_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/multiagent_mobility_gym_env.py index c716d367b4..c80fbb2f22 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/multiagent_mobility_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/multiagent_mobility_gym_env.py @@ -9,14 +9,14 @@ from gym import spaces import numpy as np -from pybullet_utils import bullet_client -from pybullet_envs.minitaur.envs import minitaur_logging -from pybullet_envs.minitaur.envs import minitaur_logging_pb2 -from pybullet_envs.minitaur.envs_v2 import locomotion_gym_env -from pybullet_envs.minitaur.envs_v2.scenes import scene_base -from pybullet_envs.minitaur.envs_v2.sensors import sensor -from pybullet_envs.minitaur.envs_v2.sensors import space_utils -import pybullet +from pycram_bullet_utils import bullet_client +from pycram_bullet_envs.minitaur.envs import minitaur_logging +from pycram_bullet_envs.minitaur.envs import minitaur_logging_pb2 +from pycram_bullet_envs.minitaur.envs_v2 import locomotion_gym_env +from pycram_bullet_envs.minitaur.envs_v2.scenes import scene_base +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.envs_v2.sensors import space_utils +import pycram_bullet _ACTION_EPS = 0.01 _NUM_SIMULATION_ITERATION_STEPS = 300 @@ -115,20 +115,20 @@ def __init__(self, # The wall-clock time at which the last frame is rendered. self._last_frame_time = 0.0 if self._is_render: - self._pybullet_client = bullet_client.BulletClient( - connection_mode=pybullet.GUI) + self._pycram_bullet_client = bullet_client.BulletClient( + connection_mode=pycram_bullet.GUI) else: - self._pybullet_client = bullet_client.BulletClient() + self._pycram_bullet_client = bullet_client.BulletClient() if gym_config.simulation_parameters.egl_rendering: - self._pybullet_client.loadPlugin('eglRendererPlugin') - self._pybullet_client.enable_cns() + self._pycram_bullet_client.loadPlugin('eglRendererPlugin') + self._pycram_bullet_client.enable_cns() # If enabled, save the performance profile to profiling_path # Use Google Chrome about://tracing to open the file if gym_config.profiling_path is not None: - self._profiling_slot = self._pybullet_client.startStateLogging( - self._pybullet_client.STATE_LOGGING_PROFILE_TIMINGS, + self._profiling_slot = self._pycram_bullet_client.startStateLogging( + self._pycram_bullet_client.STATE_LOGGING_PROFILE_TIMINGS, gym_config.profiling_path) self._profiling_counter = 10 else: @@ -205,19 +205,19 @@ def reset(self, A numpy array contains the initial observation after reset. """ if self._is_render: - self._pybullet_client.configureDebugVisualizer( - self._pybullet_client.COV_ENABLE_RENDERING, 0) + self._pycram_bullet_client.configureDebugVisualizer( + self._pycram_bullet_client.COV_ENABLE_RENDERING, 0) # Clear the simulation world and rebuild the robot interface. if self._hard_reset: - self._pybullet_client.resetSimulation() - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.resetSimulation() + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=self._num_bullet_solver_iterations) - self._pybullet_client.setTimeStep(self._sim_time_step) - self._pybullet_client.setGravity(0, 0, -10) + self._pycram_bullet_client.setTimeStep(self._sim_time_step) + self._pycram_bullet_client.setGravity(0, 0, -10) # Rebuild the world. - self._scene.build_scene(self._pybullet_client) + self._scene.build_scene(self._pycram_bullet_client) # Rebuild the robots # TODO(b/144545080): Make this scale to more than two agents @@ -227,7 +227,7 @@ def reset(self, self._robots.append( robot_class( - pybullet_client=self._pybullet_client, + pycram_bullet_client=self._pycram_bullet_client, # TODO(rosewang): Remove on rack in multiagent acase on_rack=self._on_rack)) @@ -239,7 +239,7 @@ def reset(self, reset_time=reset_duration) self._env_step_counter = 0 - self._pybullet_client.resetDebugVisualizerCamera(self._camera_dist, + self._pycram_bullet_client.resetDebugVisualizerCamera(self._camera_dist, self._camera_yaw, self._camera_pitch, [0, 0, 0]) @@ -251,10 +251,10 @@ def reset(self, minitaur_logging.preallocate_episode_proto(self._episode_proto, _LOG_BUFFER_LENGTH, self._robots[0]) - self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0) + self._pycram_bullet_client.setPhysicsEngineParameter(enableConeFriction=0) self._env_step_counter = 0 if reset_visualization_camera: - self._pybullet_client.resetDebugVisualizerCamera(self._camera_dist, + self._pycram_bullet_client.resetDebugVisualizerCamera(self._camera_dist, self._camera_yaw, self._camera_pitch, [0, 0, 0]) @@ -265,8 +265,8 @@ def reset(self, } if self._is_render: - self._pybullet_client.configureDebugVisualizer( - self._pybullet_client.COV_ENABLE_RENDERING, 1) + self._pycram_bullet_client.configureDebugVisualizer( + self._pycram_bullet_client.COV_ENABLE_RENDERING, 1) for s in self.all_sensors(): # set name @@ -349,8 +349,8 @@ def step(self, actions): # Also keep the previous orientation of the camera set by the user. [yaw, pitch, - dist] = self._pybullet_client.getDebugVisualizerCamera()[8:11] - self._pybullet_client.resetDebugVisualizerCamera(dist, yaw, pitch, + dist] = self._pycram_bullet_client.getDebugVisualizerCamera()[8:11] + self._pycram_bullet_client.resetDebugVisualizerCamera(dist, yaw, pitch, camera_target) for env_randomizer in self._env_randomizers: @@ -364,7 +364,7 @@ def step(self, actions): for robot in self._robots: robot.PreStepPerActionRepeat(actions) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() for robot in self._robots: robot.PostStepPerActionRepeat() @@ -375,7 +375,7 @@ def step(self, actions): if self._profiling_slot >= 0: self._profiling_counter -= 1 if self._profiling_counter == 0: - self._pybullet_client.stopStateLogging(self._profiling_slot) + self._pycram_bullet_client.stopStateLogging(self._profiling_slot) if self._log_path is not None: minitaur_logging.update_episode_proto(self._episode_proto, self._robots[0], actions, @@ -403,22 +403,22 @@ def render(self, mode='rgb_array'): raise ValueError('Unsupported render mode:{}'.format(mode)) base_pos = np.mean([robot.GetBasePosition() for robot in self._robots], axis=0) - view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll( + view_matrix = self._pycram_bullet_client.computeViewMatrixFromYawPitchRoll( cameraTargetPosition=base_pos, distance=self._camera_dist, yaw=self._camera_yaw, pitch=self._camera_pitch, roll=0, upAxisIndex=2) - proj_matrix = self._pybullet_client.computeProjectionMatrixFOV( + proj_matrix = self._pycram_bullet_client.computeProjectionMatrixFOV( fov=60, aspect=float(self._render_width) / self._render_height, nearVal=0.1, farVal=100.0) - (_, _, px, _, _) = self._pybullet_client.getCameraImage( + (_, _, px, _, _) = self._pycram_bullet_client.getCameraImage( width=self._render_width, height=self._render_height, - renderer=self._pybullet_client.ER_BULLET_HARDWARE_OPENGL, + renderer=self._pycram_bullet_client.ER_BULLET_HARDWARE_OPENGL, viewMatrix=view_matrix, projectionMatrix=proj_matrix) rgb_array = np.array(px) @@ -458,9 +458,9 @@ def set_time_step(self, num_action_repeat, sim_step=0.001): self._env_time_step = sim_step * num_action_repeat self._num_bullet_solver_iterations = ( _NUM_SIMULATION_ITERATION_STEPS / self._num_action_repeat) - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=self._num_bullet_solver_iterations) - self._pybullet_client.setTimeStep(self._sim_time_step) + self._pycram_bullet_client.setTimeStep(self._sim_time_step) for robot in self._robots: robot.SetTimeSteps(self._num_action_repeat, self._sim_time_step) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/random_stepstone_scene.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/random_stepstone_scene.py similarity index 90% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/random_stepstone_scene.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/random_stepstone_scene.py index a9895cfc73..acbacef9e3 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/random_stepstone_scene.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/random_stepstone_scene.py @@ -6,8 +6,8 @@ import gin import numpy as np -from pybullet_envs.minitaur.envs_v2.scenes import scene_base -from pybullet_envs.minitaur.envs_v2.scenes.terrain import stepstones +from pycram_bullet_envs.minitaur.envs_v2.scenes import scene_base +from pycram_bullet_envs.minitaur.envs_v2.scenes.terrain import stepstones @gin.configurable @@ -98,11 +98,11 @@ def reset(self): if self._rebuild_scene_during_reset: for ground_id in self.ground_ids: - self._pybullet_client.removeBody(ground_id) - self.build_scene(self._pybullet_client) + self._pycram_bullet_client.removeBody(ground_id) + self.build_scene(self._pycram_bullet_client) - def build_scene(self, pybullet_client): - super().build_scene(pybullet_client) + def build_scene(self, pycram_bullet_client): + super().build_scene(pycram_bullet_client) # The first stone is to let the robot stand at the initial position. stone_width = np.random.uniform(self._stone_width_lower_bound, @@ -111,7 +111,7 @@ def build_scene(self, pybullet_client): self._platform_length_upper_bound) end_pos, first_stone_id = stepstones.build_one_stepstone( - pybullet_client=pybullet_client, + pycram_bullet_client=pycram_bullet_client, start_pos=(-platform_length / 2.0, 0, 0), stone_length=platform_length, stone_height=self._stone_height, @@ -121,7 +121,7 @@ def build_scene(self, pybullet_client): rgba_color=stepstones.GRAY) _, stepstone_ids = stepstones.build_random_stepstones( - pybullet_client=self.pybullet_client, + pycram_bullet_client=self.pycram_bullet_client, start_pos=end_pos, num_stones=self._num_stones, stone_height=self._stone_height, @@ -134,13 +134,13 @@ def build_scene(self, pybullet_client): height_offset_upper_bound=self._height_offset_upper_bound, random_seed=self._random_seed, color_sequence=self._color_sequence) - for pybullet_id in [first_stone_id] + stepstone_ids: - self.add_object(pybullet_id, scene_base.ObjectType.GROUND) + for pycram_bullet_id in [first_stone_id] + stepstone_ids: + self.add_object(pycram_bullet_id, scene_base.ObjectType.GROUND) self._floor_height = np.random.uniform(self._floor_height_lower_bound, self._floor_height_upper_bound) # Add floor - floor_id = stepstones.load_box(pybullet_client, + floor_id = stepstones.load_box(pycram_bullet_client, half_extents=[100, 100, 1], position=np.array([0.0, 0.0, self._floor_height - 1.0]), orientation=(0.0, 0.0, 0.0, 1.0), diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/scene_base.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/scene_base.py similarity index 81% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/scene_base.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/scene_base.py index c52ce10f66..e14ccee912 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/scene_base.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/scene_base.py @@ -1,15 +1,15 @@ # Lint as: python3 -"""Class for loading and managing a scene in pybullet.""" +"""Class for loading and managing a scene in pycram_bullet.""" import enum from typing import Any, Dict, List, Optional, Sequence, Text import gin import numpy as np -from pybullet_envs.minitaur.envs_v2.scenes import world_asset_pb2 -from pybullet_envs.minitaur.envs_v2 import base_client -from pybullet_utils import bullet_client -from pybullet_envs.minitaur.robots import autonomous_object +from pycram_bullet_envs.minitaur.envs_v2.scenes import world_asset_pb2 +from pycram_bullet_envs.minitaur.envs_v2 import base_client +from pycram_bullet_utils import bullet_client +from pycram_bullet_envs.minitaur.robots import autonomous_object @@ -42,7 +42,7 @@ def __init__( dynamic_objects: Dynamic objects to be added into the scene. crowd_builders: Builders of crowds formed by autonomous objects. """ - self._pybullet_client = None + self._pycram_bullet_client = None self._data_root = data_root temp_dynamic_objects = list(dynamic_objects) @@ -66,17 +66,17 @@ def destroy_scene(self): self.remove_object(object_id) self._reset_scene_tracking() - def build_scene(self, pybullet_client: bullet_client.BulletClient): - """Loads and positions all scene objects in pybullet. + def build_scene(self, pycram_bullet_client: bullet_client.BulletClient): + """Loads and positions all scene objects in pycram_bullet. Override this function in subclass to implement customized scene. The overriding function must call base function first. Args: - pybullet_client: A pybullet client in which the scene will be built. + pycram_bullet_client: A pycram_bullet client in which the scene will be built. """ self._reset_scene_tracking() - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._init_dynamic_objects() def reset(self): @@ -92,15 +92,15 @@ def reset(self): def _init_dynamic_objects(self): """Adds dynamic objects to scene.""" for an_object in self._dynamic_objects: - an_object.set_sim_client(self._pybullet_client) + an_object.set_sim_client(self._pycram_bullet_client) self.add_object(an_object.sim_object_id, ObjectType.DYNAMIC_OBJECT, an_object) @property - def pybullet_client(self) -> bullet_client.BulletClient: - if self._pybullet_client is None: - raise ValueError("pybullet_client is None; did you call build_scene()?") - return self._pybullet_client + def pycram_bullet_client(self) -> bullet_client.BulletClient: + if self._pycram_bullet_client is None: + raise ValueError("pycram_bullet_client is None; did you call build_scene()?") + return self._pycram_bullet_client @property def ground_height(self) -> float: @@ -109,22 +109,22 @@ def ground_height(self) -> float: @property def ground_ids(self) -> List[int]: - """Returns the pybullet ids of the ground.""" + """Returns the pycram_bullet ids of the ground.""" return self._type_to_ids_dict[ObjectType.GROUND] @property def obstacle_ids(self) -> List[int]: - """Returns the pybullet ids of all obstacles in the scene.""" + """Returns the pycram_bullet ids of all obstacles in the scene.""" return self._type_to_ids_dict[ObjectType.OBSTACLE] @property def goal_ids(self) -> List[int]: - """Returns the pybullet ids of any goals in the scene.""" + """Returns the pycram_bullet ids of any goals in the scene.""" return self._type_to_ids_dict[ObjectType.GOAL] @property def dynamic_object_ids(self) -> List[int]: - """Returns the pybullet ids of dynamic objects.""" + """Returns the pycram_bullet ids of dynamic objects.""" return self._type_to_ids_dict[ObjectType.DYNAMIC_OBJECT] @property @@ -150,14 +150,14 @@ def add_object(self, python_object: Optional[Any] = None): """Adds an object to be tracked. - Does not load anything into pybullet. + Does not load anything into pycram_bullet. Args: - object_id: objectUniqueId from pybullet. + object_id: objectUniqueId from pycram_bullet. class_label: What type to consider the new object. - python_object: Associated python object for the pybullet object of + python_object: Associated python object for the pycram_bullet object of objectUniqueId == object_id. Environment uses the python object to - control object in pybullet in these cases. One example is python objects + control object in pycram_bullet in these cases. One example is python objects of class label DYNAMIC_OBJECT: they are associated with python objects of type AutonomousObject. """ @@ -173,10 +173,10 @@ def add_object(self, self._id_to_object_dict[object_id] = python_object def remove_object(self, object_id: int): - """Removes an object from tracking and from pybullet. + """Removes an object from tracking and from pycram_bullet. Args: - object_id: objectUniqueID from pybullet. + object_id: objectUniqueID from pycram_bullet. Raises: KeyError: if object_id does not exist in the record. @@ -185,7 +185,7 @@ def remove_object(self, object_id: int): raise KeyError( f"Object with object_id = {object_id} does not exist in the record.") - self.pybullet_client.removeBody(object_id) + self.pycram_bullet_client.removeBody(object_id) object_type = self._id_to_type_dict[object_id] self._type_to_ids_dict[object_type].remove(object_id) @@ -205,7 +205,7 @@ def id_to_object(self, object_id: int) -> Any: """Returns underlying python object from sim object id. Args: - object_id: objectUniqueID from pybullet. + object_id: objectUniqueID from pycram_bullet. Returns: None is returned if the sim object does not have a corresponding python @@ -221,7 +221,7 @@ def _dict_to_world_asset( Args: type_to_ids_dict: Dictionary that describes the scene. Keys are ObjectTypes and values are lists of integers, where each integer is a - pybullet id for an object of a given type. + pycram_bullet id for an object of a given type. Returns: A WorldAsset proto with the types, locations and bounding boxes of all @@ -230,7 +230,7 @@ def _dict_to_world_asset( world_asset = world_asset_pb2.WorldAsset() for object_type in type_to_ids_dict.keys(): for obj_id in type_to_ids_dict[object_type]: - bbox = np.array(self.pybullet_client.getAABB(obj_id)) + bbox = np.array(self.pycram_bullet_client.getAABB(obj_id)) bbox_center = np.mean(bbox, axis=0) bbox_dimensions = bbox[1] - bbox[0] diff --git a/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/simple_scene.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/simple_scene.py new file mode 100644 index 0000000000..c4984bb0be --- /dev/null +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/simple_scene.py @@ -0,0 +1,35 @@ +# Lint as: python3 +"""A scene containing only a planar floor.""" + +from typing import Sequence + +import gin +from pycram_bullet_envs.minitaur.envs_v2 import base_client +from pycram_bullet_envs.minitaur.envs_v2.scenes import scene_base + +_PLANE_URDF = ( + "plane.urdf") + + +@gin.configurable +class SimpleScene(scene_base.SceneBase): + """A scene containing only a planar floor.""" + + def build_scene(self, pycram_bullet_client): + super().build_scene(pycram_bullet_client) + + visual_shape_id = self._pycram_bullet_client.createVisualShape( + shapeType=self._pycram_bullet_client.GEOM_PLANE) + collision_shape_id = self._pycram_bullet_client.createCollisionShape( + shapeType=self._pycram_bullet_client.GEOM_PLANE) + ground_id = self._pycram_bullet_client.createMultiBody( + baseMass=0, + baseCollisionShapeIndex=collision_shape_id, + baseVisualShapeIndex=visual_shape_id) + self._pycram_bullet_client.changeDynamics(ground_id, -1, lateralFriction=1.0) + self.add_object(ground_id, scene_base.ObjectType.GROUND) + + @property + def vectorized_map(self) -> Sequence[scene_base.Polygon]: + """Returns vectorized map containing a list of polygon obstacles.""" + return [] diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/terrain/stepstones.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/terrain/stepstones.py similarity index 85% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/terrain/stepstones.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/terrain/stepstones.py index 63648dd8c5..9f3ce8fbca 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/terrain/stepstones.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/terrain/stepstones.py @@ -5,8 +5,8 @@ import random from typing import List, Optional, Sequence, Tuple import numpy as np -import pybullet -from pybullet_utils import bullet_client +import pycram_bullet +from pycram_bullet_utils import bullet_client GRAY = (0.3, 0.3, 0.3, 1) # RGB values from the official Google logo colors. @@ -17,7 +17,7 @@ MULTICOLOR = (GREEN, YELLOW, RED, BLUE) -def load_box(pybullet_client: bullet_client.BulletClient, +def load_box(pycram_bullet_client: bullet_client.BulletClient, half_extents: Sequence[float] = (1, 1, 1), position: Sequence[float] = (0, 0, 0), orientation: Sequence[float] = (0, 0, 0, 1), @@ -36,11 +36,11 @@ def load_box(pybullet_client: bullet_client.BulletClient, Returns: Unique integer referring to the loaded box. """ - col_box_id = pybullet_client.createCollisionShape( - pybullet.GEOM_BOX, halfExtents=half_extents) - visual_box_id = pybullet_client.createVisualShape( - pybullet.GEOM_BOX, halfExtents=half_extents, rgbaColor=rgba_color) - return pybullet_client.createMultiBody( + col_box_id = pycram_bullet_client.createCollisionShape( + pycram_bullet.GEOM_BOX, halfExtents=half_extents) + visual_box_id = pycram_bullet_client.createVisualShape( + pycram_bullet.GEOM_BOX, halfExtents=half_extents, rgbaColor=rgba_color) + return pycram_bullet_client.createMultiBody( baseMass=mass, baseCollisionShapeIndex=col_box_id, baseVisualShapeIndex=visual_box_id, @@ -49,7 +49,7 @@ def load_box(pybullet_client: bullet_client.BulletClient, def build_one_stepstone( - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, start_pos: Sequence[float] = (0, 0, 0), stone_length: float = 1, stone_height: float = 0.15, @@ -60,7 +60,7 @@ def build_one_stepstone( """Generates one stepstone. Args: - pybullet_client: The pybullet client instance. + pycram_bullet_client: The pycram_bullet client instance. start_pos: The starting position (the midpoint of top-left edge) of the stepstone. stone_length: The length of the stepstone in meters. @@ -74,13 +74,13 @@ def build_one_stepstone( Returns: The position of the mid point of the right-top edge of the stepstone. - The pybullet id of the stepstone. + The pycram_bullet id of the stepstone. """ half_length = stone_length / 2.0 half_width = stone_width / 2.0 half_height = stone_height / 2.0 start_pos = np.asarray(start_pos) + np.array([gap_length, 0, height_offset]) - step_stone_id = load_box(pybullet_client, + step_stone_id = load_box(pycram_bullet_client, half_extents=[half_length, half_width, half_height], position=start_pos + np.array([half_length, 0, -half_height]), orientation=(0, 0, 0, 1), @@ -91,7 +91,7 @@ def build_one_stepstone( def build_stepstones( - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, start_pos: Sequence[float] = (0, 0, 0), num_stones: int = 5, stone_length: float = 1, @@ -106,7 +106,7 @@ def build_stepstones( and gap distance. Args: - pybullet_client: The pybullet client instance. + pycram_bullet_client: The pycram_bullet client instance. start_pos: The starting position (the mid point of top-left edge) of the first stepstone. num_stones: The number of stepstones in this creation. @@ -120,13 +120,13 @@ def build_stepstones( Returns: The position of the midpoint of the right-top edge of the last stepstone. - The pybullet ids of the stepstones. + The pycram_bullet ids of the stepstones. """ end_pos = start_pos ids = [] for _, color in zip(range(num_stones), itertools.cycle(color_sequence)): end_pos, step_stone_id = build_one_stepstone( - pybullet_client=pybullet_client, + pycram_bullet_client=pycram_bullet_client, start_pos=end_pos, stone_length=stone_length, stone_height=stone_height, @@ -139,7 +139,7 @@ def build_stepstones( def build_random_stepstones( - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, start_pos: Sequence[float] = (0, 0, 0), num_stones: int = 5, stone_height: float = 0.15, @@ -159,7 +159,7 @@ def build_random_stepstones( parameters. Args: - pybullet_client: The pybullet client instance. + pycram_bullet_client: The pycram_bullet client instance. start_pos: The starting position (the midpoint of top-left edge) of the stepstone. num_stones: The number of stepstones in this creation. @@ -184,7 +184,7 @@ def build_random_stepstones( Returns: The position of the mid point of the right-top edge of the stepstone. - The pybullet ids of the stepstones. + The pycram_bullet ids of the stepstones. """ end_pos = start_pos ids = [] @@ -198,7 +198,7 @@ def build_random_stepstones( height_offset = random_generator.uniform(height_offset_lower_bound, height_offset_upper_bound) end_pos, step_stone_id = build_one_stepstone( - pybullet_client=pybullet_client, + pycram_bullet_client=pycram_bullet_client, start_pos=end_pos, stone_length=stone_length, stone_height=stone_height, @@ -211,19 +211,19 @@ def build_random_stepstones( def build_platform_at_origin( - pybullet_client: bullet_client.BulletClient + pycram_bullet_client: bullet_client.BulletClient ) -> Tuple[np.ndarray, int]: """Builds a platform for the robot to start standing on. Args: - pybullet_client: The pybullet client instance. + pycram_bullet_client: The pycram_bullet client instance. Returns: The position of the mid point of the right-top edge of the platform. - The pybullet id of the platform. + The pycram_bullet id of the platform. """ end_pos, platform_id = build_one_stepstone( - pybullet_client=pybullet_client, + pycram_bullet_client=pycram_bullet_client, start_pos=(-0.5, 0, 0), stone_length=1.0, stone_height=0.1, diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset_pb2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset_pb2.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset_pb2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset_pb2.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/accelerometer_sensor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/accelerometer_sensor.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/accelerometer_sensor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/accelerometer_sensor.py index 954e8ecb38..c798fa76e1 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/accelerometer_sensor.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/accelerometer_sensor.py @@ -7,8 +7,8 @@ import gym import numpy as np -from pybullet_envs.minitaur.envs_v2.sensors import sensor -from pybullet_envs.minitaur.envs_v2.utilities import noise_generators +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.envs_v2.utilities import noise_generators _ACCELEROMETER_DIM = 3 _DEFAULT_ACCELEROMETER_LOWER_BOUND = (-1, -1, -1) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/camera_sensor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/camera_sensor.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/camera_sensor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/camera_sensor.py index d1c6bde8c0..add48aae88 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/camera_sensor.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/camera_sensor.py @@ -7,9 +7,9 @@ import gym import numpy as np -from pybullet_envs.minitaur.envs_v2.sensors import sensor -from pybullet_envs.minitaur.vision import point_cloud_utils -from pybullet_envs.minitaur.vision import sim_camera +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.vision import point_cloud_utils +from pycram_bullet_envs.minitaur.vision import sim_camera _MODE_TO_NUM_CHANNELS_DICT = { sim_camera.CameraMode.DEPTH: 1, @@ -52,7 +52,7 @@ def __init__(self, the specified link. camera_rotation_from_base: A 4-vector quaternion represents the rotation of the camera relative to the specified link. - parent_link_id: The pybullet link id, where the camera is mounted on. + parent_link_id: The pycram_bullet link id, where the camera is mounted on. camera_mode: An enum that specifies the mode that the camera operates. See sim_camera.CameraMode for more details. camera_update_frequency_hz: The frequency at which the camera will capture @@ -115,7 +115,7 @@ def change_mounting_point( the specified link. camera_rotation_from_link: A 4-vector quaternion represents the rotation of the camera relative to the specified link. - parent_link_id: The pybullet link id, where the camera is mounted on. + parent_link_id: The pycram_bullet link id, where the camera is mounted on. """ self._parent_link_id = parent_link_id self._camera_translation_from_base = camera_translation_from_link @@ -125,7 +125,7 @@ def set_robot(self, robot): super().set_robot(robot) self._camera = sim_camera.MountedCamera( - pybullet_client=robot.pybullet_client, + pycram_bullet_client=robot.pycram_bullet_client, body_id=robot.robot_id, parent_link_id=self._parent_link_id, relative_translation=self._camera_translation_from_base, diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/imu_sensor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/imu_sensor.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/imu_sensor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/imu_sensor.py index a26cf491d8..57a4f38001 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/imu_sensor.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/imu_sensor.py @@ -8,8 +8,8 @@ import gym import numpy as np -from pybullet_envs.minitaur.envs_v2.sensors import sensor -from pybullet_envs.minitaur.envs_v2.utilities import noise_generators +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.envs_v2.utilities import noise_generators @gin.constants_from_enum diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/last_action_sensor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/last_action_sensor.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/last_action_sensor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/last_action_sensor.py index e61299f029..d6f15ea9c6 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/last_action_sensor.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/last_action_sensor.py @@ -6,8 +6,8 @@ import gym import numpy as np -from pybullet_envs.minitaur.envs_v2.sensors import sensor -from pybullet_envs.minitaur.envs_v2.sensors import space_utils +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.envs_v2.sensors import space_utils @gin.configurable diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/motor_angle_sensor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/motor_angle_sensor.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/motor_angle_sensor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/motor_angle_sensor.py index ce1754547e..b2a471daa1 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/motor_angle_sensor.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/motor_angle_sensor.py @@ -7,9 +7,9 @@ import gym import numpy as np -from pybullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor -from pybullet_envs.minitaur.envs_v2.utilities import noise_generators +from pycram_bullet_envs.minitaur.envs_v2.utilities import noise_generators def _convert_to_np_array(inputs: Union[float, Tuple[float], np.ndarray], dim): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/sensor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/sensor.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/sensor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/sensor.py index e3208cdc38..a9e17b87e5 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/sensor.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/sensor.py @@ -14,8 +14,8 @@ import gym import numpy as np -from pybullet_envs.minitaur.robots import robot_base -from pybullet_envs.minitaur.robots import time_ordered_buffer +from pycram_bullet_envs.minitaur.robots import robot_base +from pycram_bullet_envs.minitaur.robots import time_ordered_buffer _ARRAY = Sequence[float] _FloatOrArray = Union[float, _ARRAY] diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/space_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/space_utils.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/space_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/space_utils.py index 270bee2f1a..85866462ae 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/space_utils.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/space_utils.py @@ -11,7 +11,7 @@ from gym import spaces import numpy as np -from pybullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor class UnsupportedConversionError(NotImplementedError): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/toe_position_sensor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/toe_position_sensor.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/toe_position_sensor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/toe_position_sensor.py index 5e875045a6..5d2cf43b6a 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/toe_position_sensor.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/sensors/toe_position_sensor.py @@ -7,8 +7,8 @@ import gym import numpy as np -from pybullet_envs.minitaur.envs_v2.sensors import sensor -from pybullet_envs.minitaur.envs_v2.utilities import noise_generators +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.envs_v2.utilities import noise_generators def _convert_to_np_array(inputs: Union[float, Tuple[float], np.ndarray], dim): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/simple_locomotion_task.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/simple_locomotion_task.py similarity index 93% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/simple_locomotion_task.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/simple_locomotion_task.py index 9046f9d8d6..0303fb1bb5 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/simple_locomotion_task.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/simple_locomotion_task.py @@ -7,10 +7,10 @@ import numpy as np import gin -from pybullet_envs.minitaur.envs_v2.tasks import task_interface -from pybullet_envs.minitaur.envs_v2.tasks import task_utils -from pybullet_envs.minitaur.envs_v2.tasks import terminal_conditions -from pybullet_envs.minitaur.envs_v2.utilities import env_utils_v2 as env_utils +from pycram_bullet_envs.minitaur.envs_v2.tasks import task_interface +from pycram_bullet_envs.minitaur.envs_v2.tasks import task_utils +from pycram_bullet_envs.minitaur.envs_v2.tasks import terminal_conditions +from pycram_bullet_envs.minitaur.envs_v2.utilities import env_utils_v2 as env_utils @gin.configurable diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_interface.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_interface.py similarity index 93% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_interface.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_interface.py index 720d450107..9df82f0313 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_interface.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_interface.py @@ -7,7 +7,7 @@ import gym -from pybullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor class Task(metaclass=abc.ABCMeta): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_utils.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_utils.py index 90ac2814a3..b3237df2b1 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_utils.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_utils.py @@ -77,17 +77,17 @@ def turn_angle(new_vector, reference_vector): return np.arctan2(np.dot(np.cross(v2, v1), (0, 0, -1)), np.dot(v1, v2)) -def front_vector(pybullet_client, orientation): +def front_vector(pycram_bullet_client, orientation): """Calculates the front vector of the robot on x-y plane. Args: - pybullet_client: Pybullet client instantiation. + pycram_bullet_client: Pybullet client instantiation. orientation: Orientation of the robot in quaternion form. Returns: 3D vector where z component is set to 0. """ - rot_matrix = pybullet_client.getMatrixFromQuaternion(orientation) + rot_matrix = pycram_bullet_client.getMatrixFromQuaternion(orientation) return [rot_matrix[0], -rot_matrix[1], 0] diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/terminal_conditions.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/terminal_conditions.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/terminal_conditions.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/terminal_conditions.py index 9fe5120573..3a5294567b 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/terminal_conditions.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/tasks/terminal_conditions.py @@ -7,9 +7,9 @@ import gin import numpy as np -from pybullet_envs.minitaur.envs_v2.utilities import minitaur_pose_utils -from pybullet_envs.minitaur.envs_v2.utilities import env_utils_v2 as env_utils -from pybullet_envs.minitaur.envs_v2.utilities import termination_reason as tr +from pycram_bullet_envs.minitaur.envs_v2.utilities import minitaur_pose_utils +from pycram_bullet_envs.minitaur.envs_v2.utilities import env_utils_v2 as env_utils +from pycram_bullet_envs.minitaur.envs_v2.utilities import termination_reason as tr @gin.configurable @@ -26,7 +26,7 @@ def default_terminal_condition_for_minitaur(env): A boolean indicating if Minitaur is fallen. """ orientation = env_utils.get_robot_base_orientation(env.robot) - rot_mat = env.pybullet_client.getMatrixFromQuaternion(orientation) + rot_mat = env.pycram_bullet_client.getMatrixFromQuaternion(orientation) local_up = rot_mat[6:] pos = env_utils.get_robot_base_position(env.robot) return (np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.85 or @@ -107,7 +107,7 @@ def default_terminal_condition_for_laikago_v2( foot_link_ids = list( env.robot.urdf_loader.get_end_effector_id_dict().values()) knee_link_ids = [foot_link_id - 1 for foot_link_id in foot_link_ids] - contacts = env.pybullet_client.getContactPoints(bodyA=env.robot.robot_id) + contacts = env.pycram_bullet_client.getContactPoints(bodyA=env.robot.robot_id) for contact in contacts: # Two different bodies made contact (i.e. not a self-collision). if contact[1] != contact[2]: @@ -148,7 +148,7 @@ def default_terminal_condition_for_agility(env, unwanted_collision = False if enforce_foot_contacts: knee_link_ids = [2, 5, 8, 11] - contacts = env.pybullet_client.getContactPoints(bodyA=env.robot.robot_id) + contacts = env.pycram_bullet_client.getContactPoints(bodyA=env.robot.robot_id) for contact in contacts: if contact[1] != contact[2]: foot_contact = contact[3] in knee_link_ids diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils_v2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils_v2.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils_v2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils_v2.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/laikago_pose_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/laikago_pose_utils.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/laikago_pose_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/laikago_pose_utils.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/mini_cheetah_pose_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/mini_cheetah_pose_utils.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/mini_cheetah_pose_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/mini_cheetah_pose_utils.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/minitaur_pose_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/minitaur_pose_utils.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/minitaur_pose_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/minitaur_pose_utils.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/noise_generators.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/noise_generators.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/noise_generators.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/noise_generators.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/rendering_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/rendering_utils.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/rendering_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/rendering_utils.py index 99568108b5..cab194c1aa 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/rendering_utils.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/rendering_utils.py @@ -21,16 +21,16 @@ _DEFAULT_BOUNDING_BOX = ((-15, -15, -10), (15, 15, 0)) -def render_image(pybullet_client, width, height, view_matrix, proj_matrix): +def render_image(pycram_bullet_client, width, height, view_matrix, proj_matrix): """Renders image as numpy array given view and projection matrices.""" global last_used_view_matrix, last_used_proj_matrix, last_rendered_image_size last_used_view_matrix = view_matrix last_used_proj_matrix = proj_matrix - (_, _, px, _, _) = pybullet_client.getCameraImage( + (_, _, px, _, _) = pycram_bullet_client.getCameraImage( width=width, height=height, - renderer=pybullet_client.ER_BULLET_HARDWARE_OPENGL, + renderer=pycram_bullet_client.ER_BULLET_HARDWARE_OPENGL, viewMatrix=view_matrix, projectionMatrix=proj_matrix) rgb_array = np.array(px) @@ -104,11 +104,11 @@ def project_world_to_image(points, return points_proj_2d * image_size -def get_scene_bounding_box(pybullet_client, scene=None): +def get_scene_bounding_box(pycram_bullet_client, scene=None): """Computes scene axis-aligned bounding box. Args: - pybullet_client: PyBullet client. + pycram_bullet_client: PyBullet client. scene: Scene instance for filtering the bounding box of camera. Returns: @@ -118,8 +118,8 @@ def get_scene_bounding_box(pybullet_client, scene=None): aabb_min = None aabb_max = None - for i in range(pybullet_client.getNumBodies()): - body_id = pybullet_client.getBodyUniqueId(i) + for i in range(pycram_bullet_client.getNumBodies()): + body_id = pycram_bullet_client.getBodyUniqueId(i) # If a scene has been provided, only count bodes which are in # either the ground or obstacle id lists. @@ -127,7 +127,7 @@ def get_scene_bounding_box(pybullet_client, scene=None): if body_id not in scene.ground_ids and body_id not in scene.obstacle_ids: continue - aabb = pybullet_client.getAABB(body_id) + aabb = pycram_bullet_client.getAABB(body_id) if np.any(np.abs(aabb) >= _INFINITY): aabb = _DEFAULT_BOUNDING_BOX if aabb_min is None: @@ -142,7 +142,7 @@ def get_scene_bounding_box(pybullet_client, scene=None): @gin.configurable def render_topdown( - pybullet_client, + pycram_bullet_client, result_size=(1280, 720), scale_px_per_meter=None, camera_height=50, @@ -156,7 +156,7 @@ def render_topdown( """Renders top-down image of the environment. Args: - pybullet_client: PyBullet client. + pycram_bullet_client: PyBullet client. result_size: Resulting image size. scale_px_per_meter: Resulting image scale in pixels per meter. This overrides `result_size`. @@ -188,7 +188,7 @@ def render_topdown( "Invalid render size, expected [x, y, z]: {}".format(aabb_size)) aabb_max = tuple(m + s for m, s in zip(aabb_min, aabb_size)) else: - aabb_min, aabb_max = get_scene_bounding_box(pybullet_client, scene) + aabb_min, aabb_max = get_scene_bounding_box(pycram_bullet_client, scene) if use_y_as_up_axis: width = aabb_max[0] - aabb_min[0] @@ -224,14 +224,14 @@ def render_topdown( if use_y_as_up_axis: center_x = (aabb_min[0] + aabb_max[0]) / 2.0 center_z = (aabb_min[2] + aabb_max[2]) / 2.0 - view_matrix = pybullet_client.computeViewMatrix( + view_matrix = pycram_bullet_client.computeViewMatrix( cameraEyePosition=(center_x, aabb_max[1] + camera_height, center_z), cameraTargetPosition=(center_x, aabb_max[1], center_z), cameraUpVector=(0, 0, 1)) else: center_x = (aabb_min[0] + aabb_max[0]) / 2.0 center_y = (aabb_min[1] + aabb_max[1]) / 2.0 - view_matrix = pybullet_client.computeViewMatrix( + view_matrix = pycram_bullet_client.computeViewMatrix( cameraEyePosition=(center_x, center_y, aabb_max[2] + camera_height), cameraTargetPosition=(center_x, center_y, aabb_max[2]), cameraUpVector=(0, 1, 0)) @@ -254,7 +254,7 @@ def render_topdown( "`high_render_height_from_ground` were specified but no reference " "ground height was given.") vertical_fov = 2 * math.atan2(height / 2, camera_height) - proj_matrix = pybullet_client.computeProjectionMatrixFOV( + proj_matrix = pycram_bullet_client.computeProjectionMatrixFOV( fov=math.degrees(vertical_fov), aspect=width / height, nearVal=near_plane, @@ -262,7 +262,7 @@ def render_topdown( # Render and return image. return render_image( - pybullet_client, + pycram_bullet_client, result_size[0], result_size[1], view_matrix, diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/robot_pose_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/robot_pose_utils.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/robot_pose_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/robot_pose_utils.py index 6e0e922435..a00d0a25da 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/robot_pose_utils.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/robot_pose_utils.py @@ -4,13 +4,13 @@ import attr import numpy as np -from pybullet_envs.minitaur.envs_v2.utilities import laikago_pose_utils -from pybullet_envs.minitaur.envs_v2.utilities import mini_cheetah_pose_utils -from pybullet_envs.minitaur.envs_v2.utilities import minitaur_pose_utils -from pybullet_envs.minitaur.robots import laikago -from pybullet_envs.minitaur.robots import laikago_v2 -from pybullet_envs.minitaur.robots import mini_cheetah -from pybullet_envs.minitaur.robots import minitaur_v2 +from pycram_bullet_envs.minitaur.envs_v2.utilities import laikago_pose_utils +from pycram_bullet_envs.minitaur.envs_v2.utilities import mini_cheetah_pose_utils +from pycram_bullet_envs.minitaur.envs_v2.utilities import minitaur_pose_utils +from pycram_bullet_envs.minitaur.robots import laikago +from pycram_bullet_envs.minitaur.robots import laikago_v2 +from pycram_bullet_envs.minitaur.robots import mini_cheetah +from pycram_bullet_envs.minitaur.robots import minitaur_v2 _ABDUCTION_ACTION_INDEXES = [0, 3, 6, 9] diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/termination_reason.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/termination_reason.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/termination_reason.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/envs_v2/utilities/termination_reason.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/autonomous_object.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/autonomous_object.py similarity index 88% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/autonomous_object.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/autonomous_object.py index 44c9d65ecd..70034fbc38 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/autonomous_object.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/autonomous_object.py @@ -6,11 +6,11 @@ import gin import numpy as np -from pybullet_utils import bullet_client -from pybullet_envs.minitaur.envs_v2 import base_client -from pybullet_envs.minitaur.envs_v2.sensors import sensor -from pybullet_envs.minitaur.robots import object_controller -from pybullet_envs.minitaur.robots import robot_base +from pycram_bullet_utils import bullet_client +from pycram_bullet_envs.minitaur.envs_v2 import base_client +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor +from pycram_bullet_envs.minitaur.robots import object_controller +from pycram_bullet_envs.minitaur.robots import robot_base # The action value to pass into AutonomousObject pre_control_step() and # apply_action(). @@ -38,7 +38,7 @@ def __init__(self, sensors: A list of sensor objects to attach to autonomous object. controller: A controller object that governs autonomous object's motion. If not specified, StationaryController is used. - actuate_by_reset: Use pybullet resetBasePositionAndOrientation to actuate + actuate_by_reset: Use pycram_bullet resetBasePositionAndOrientation to actuate the object. Default is False, which means actuate by constraint. In the actuate by constrained mode, be extra cautious when the position or orientation control is based on position or orientation sensor reading @@ -56,7 +56,7 @@ def __init__(self, self._object_id = -1 self._constraint_id = -1 - self._pybullet_client = None # will be initialized in set_sim_client() + self._pycram_bullet_client = None # will be initialized in set_sim_client() self._clock = None # will be initialized in set_clock() self._init_internal_states() @@ -66,9 +66,9 @@ def _init_internal_states(self) -> None: self._position = np.zeros(3) self._orientation = np.array([0, 0, 0, 1]) - def set_sim_client(self, pybullet_client: bullet_client.BulletClient) -> None: + def set_sim_client(self, pycram_bullet_client: bullet_client.BulletClient) -> None: """Sets new simulation client and reload assets.""" - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._init_internal_states() self.load() @@ -101,7 +101,7 @@ def _load_urdf(self): """Loads object URDF file.""" try: print("loading: ", self._urdf_file) - self._object_id = self._pybullet_client.loadURDF(self._urdf_file) + self._object_id = self._pycram_bullet_client.loadURDF(self._urdf_file) except: print("Error: cannot load ", self._urdf_file) import sys @@ -111,12 +111,12 @@ def load(self) -> None: """Reconstructs the robot and resets its states.""" self._load_urdf() if not self._actuate_by_reset: - self._constraint_id = self._pybullet_client.createConstraint( + self._constraint_id = self._pycram_bullet_client.createConstraint( parentBodyUniqueId=self._object_id, parentLinkIndex=-1, childBodyUniqueId=-1, childLinkIndex=-1, - jointType=self._pybullet_client.JOINT_FIXED, + jointType=self._pycram_bullet_client.JOINT_FIXED, jointAxis=(0, 0, 0), parentFramePosition=(0, 0, 0), childFramePosition=(0, 0, 0), @@ -191,7 +191,7 @@ def apply_action(self, action: Any) -> None: def receive_observation(self) -> None: """Updates the robot sensor readings.""" position, orientation = ( - self._pybullet_client.getBasePositionAndOrientation(self._object_id)) + self._pycram_bullet_client.getBasePositionAndOrientation(self._object_id)) self._position = np.array(position) self._orientation = np.array(orientation) @@ -216,9 +216,9 @@ def _reset_base_pose(self, if orientation_quat is None: orientation_quat = self._orientation - self._pybullet_client.resetBaseVelocity(self._object_id, (0, 0, 0), + self._pycram_bullet_client.resetBaseVelocity(self._object_id, (0, 0, 0), (0, 0, 0)) - self._pybullet_client.resetBasePositionAndOrientation( + self._pycram_bullet_client.resetBasePositionAndOrientation( self._object_id, position, orientation_quat) def _actuate_base_pose(self, position: Union[Sequence[float], np.ndarray], @@ -232,7 +232,7 @@ def _actuate_base_pose(self, position: Union[Sequence[float], np.ndarray], position: The desired base position. orientation_quat: The desired base orientation in quaternion. """ - self._pybullet_client.changeConstraint( + self._pycram_bullet_client.changeConstraint( self._constraint_id, position, jointChildFrameOrientation=orientation_quat, @@ -261,7 +261,7 @@ def base_orientation_quaternion(self) -> np.ndarray: def base_roll_pitch_yaw(self) -> np.ndarray: """Returns the base roll, pitch, and yaw angles in radians.""" return np.array( - self._pybullet_client.getEulerFromQuaternion(self._orientation)) + self._pycram_bullet_client.getEulerFromQuaternion(self._orientation)) @property def base_position(self) -> np.ndarray: @@ -277,8 +277,8 @@ def timestamp(self): # This is need for CameraSensor.set_robot() to work. @property - def pybullet_client(self): - return self._pybullet_client + def pycram_bullet_client(self): + return self._pycram_bullet_client # This is need for CameraSensor.set_robot() to work. @property diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/crowd_controller.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/crowd_controller.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/crowd_controller.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/crowd_controller.py index 409c029cfa..bd1260a026 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/crowd_controller.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/crowd_controller.py @@ -11,10 +11,10 @@ import numpy as np #import rvo2 -from pybullet_envs.minitaur.envs_v2.sensors import base_position_sensor -from pybullet_envs.minitaur.envs_v2.sensors import sensor as generic_sensor -from pybullet_envs.minitaur.robots import autonomous_object -from pybullet_envs.minitaur.robots import object_controller +from pycram_bullet_envs.minitaur.envs_v2.sensors import base_position_sensor +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor as generic_sensor +from pycram_bullet_envs.minitaur.robots import autonomous_object +from pycram_bullet_envs.minitaur.robots import object_controller POSITION_SENSOR_POSTFIX = "_pos" @@ -337,7 +337,7 @@ def __init__( neighbor_distance_m: Neighbor distance in meters. Instances closer than this distance are considered neighbors. max_neighbors: Max number of neighbors. - workaround_erp_issue: There is an issue with pybullet constraint that the + workaround_erp_issue: There is an issue with pycram_bullet constraint that the constraint is solved only 20% per timestep. Need to amplify position delta by 5x to workaround this issue. moving_objects_pos_key: Position observation key of moving objects not diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/hybrid_motor_model.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/hybrid_motor_model.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/hybrid_motor_model.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/hybrid_motor_model.py index 4a15422b96..4d958c1173 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/hybrid_motor_model.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/hybrid_motor_model.py @@ -5,8 +5,8 @@ import gin import numpy as np -from pybullet_envs.minitaur.robots import robot_config -from pybullet_envs.minitaur.robots import time_ordered_buffer +from pycram_bullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots import time_ordered_buffer _DEFAULT_BUFFER_SIZE = 200 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago.py similarity index 91% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago.py index bcfcbdc3ec..1e9a1bd09e 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago.py @@ -4,12 +4,12 @@ import re import gin import numpy as np -from pybullet_utils import transformations -from pybullet_envs.minitaur.envs_v2.utilities import laikago_pose_utils -from pybullet_envs.minitaur.robots import laikago_constants -from pybullet_envs.minitaur.robots import laikago_motor -from pybullet_envs.minitaur.robots import minitaur -from pybullet_envs.minitaur.robots import robot_config +from pycram_bullet_utils import transformations +from pycram_bullet_envs.minitaur.envs_v2.utilities import laikago_pose_utils +from pycram_bullet_envs.minitaur.robots import laikago_constants +from pycram_bullet_envs.minitaur.robots import laikago_motor +from pycram_bullet_envs.minitaur.robots import minitaur +from pycram_bullet_envs.minitaur.robots import robot_config NUM_MOTORS = 12 NUM_LEGS = 4 @@ -101,13 +101,13 @@ def __init__(self, urdf_filename=URDF_WITH_TOES, **kwargs): def _LoadRobotURDF(self): laikago_urdf_path = self.GetURDFFile() if self._self_collision_enabled: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( laikago_urdf_path, self._GetDefaultInitPosition(), self._GetDefaultInitOrientation(), - flags=self._pybullet_client.URDF_USE_SELF_COLLISION) + flags=self._pycram_bullet_client.URDF_USE_SELF_COLLISION) else: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( laikago_urdf_path, self._GetDefaultInitPosition(), self._GetDefaultInitOrientation()) @@ -132,7 +132,7 @@ def GetHipPositionsInBaseFrame(self): return _DEFAULT_HIP_POSITIONS def GetFootContacts(self): - all_contacts = self._pybullet_client.getContactPoints(bodyA=self.quadruped) + all_contacts = self._pycram_bullet_client.getContactPoints(bodyA=self.quadruped) contacts = [False, False, False, False] for contact in all_contacts: @@ -160,10 +160,10 @@ def ResetPose(self, add_constraint): del add_constraint for name in self._joint_name_to_id: joint_id = self._joint_name_to_id[name] - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(joint_id), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=0) for name, i in zip(MOTOR_NAMES, range(len(MOTOR_NAMES))): @@ -176,7 +176,7 @@ def ResetPose(self, add_constraint): else: raise ValueError("The name %s is not recognized as a motor joint." % name) - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self.quadruped, self._joint_name_to_id[name], angle, targetVelocity=0) def GetURDFFile(self): @@ -188,7 +188,7 @@ def _BuildUrdfIds(self): Raises: ValueError: Unknown category of the joint name. """ - num_joints = self._pybullet_client.getNumJoints(self.quadruped) + num_joints = self._pycram_bullet_client.getNumJoints(self.quadruped) self._chassis_link_ids = [-1] self._leg_link_ids = [] self._motor_link_ids = [] @@ -196,7 +196,7 @@ def _BuildUrdfIds(self): self._foot_link_ids = [] for i in range(num_joints): - joint_info = self._pybullet_client.getJointInfo(self.quadruped, i) + joint_info = self._pycram_bullet_client.getJointInfo(self.quadruped, i) joint_name = joint_info[1].decode("UTF-8") joint_id = self._joint_name_to_id[joint_name] if CHASSIS_NAME_PATTERN.match(joint_name): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_constants.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_constants.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_constants.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_constants.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_interface.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_interface.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface_pb2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_interface_pb2.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface_pb2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_interface_pb2.py index 7d67f55ccc..3e7f92fa7f 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface_pb2.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_interface_pb2.py @@ -11,8 +11,8 @@ _sym_db = _symbol_database.Default() -from pybullet_envs.minitaur.robots import timestamp_pb2 as timestamp__pb2 -from pybullet_envs.minitaur.robots import vector_pb2 as vector__pb2 +from pycram_bullet_envs.minitaur.robots import timestamp_pb2 as timestamp__pb2 +from pycram_bullet_envs.minitaur.robots import vector_pb2 as vector__pb2 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_kinematic_constants.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_kinematic_constants.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_kinematic_constants.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_kinematic_constants.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_motor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_motor.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_motor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_motor.py index a57c0a9648..e99867f668 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_motor.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_motor.py @@ -3,7 +3,7 @@ import collections import numpy as np -from pybullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots import robot_config NUM_MOTORS = 12 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_v2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_v2.py similarity index 79% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_v2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_v2.py index dcabd05df3..46b0a58c6a 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_v2.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/laikago_v2.py @@ -2,9 +2,9 @@ """Add the new laikago robot.""" import gin -from pybullet_envs.minitaur.robots import laikago_constants -from pybullet_envs.minitaur.robots import quadruped_base -from pybullet_envs.minitaur.robots import robot_urdf_loader +from pycram_bullet_envs.minitaur.robots import laikago_constants +from pycram_bullet_envs.minitaur.robots import quadruped_base +from pycram_bullet_envs.minitaur.robots import robot_urdf_loader @gin.configurable @@ -15,7 +15,7 @@ def _pre_load(self): """Import the Laikago specific constants. """ self._urdf_loader = robot_urdf_loader.RobotUrdfLoader( - pybullet_client=self._pybullet_client, + pycram_bullet_client=self._pycram_bullet_client, urdf_path=laikago_constants.URDF_PATH, enable_self_collision=True, init_base_position=laikago_constants.INIT_POSITION, diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/mini_cheetah.py similarity index 86% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/mini_cheetah.py index bc8fb10890..a71ba77dc1 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/mini_cheetah.py @@ -5,9 +5,9 @@ import gin import numpy as np -from pybullet_envs.minitaur.robots import laikago_motor -from pybullet_envs.minitaur.robots import minitaur -from pybullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots import laikago_motor +from pycram_bullet_envs.minitaur.robots import minitaur +from pycram_bullet_envs.minitaur.robots import robot_config NUM_MOTORS = 12 NUM_LEGS = 4 @@ -71,13 +71,13 @@ def __init__(self, **kwargs): def _LoadRobotURDF(self): mini_cheetah_urdf_path = "mini_cheetah/mini_cheetah.urdf" if self._self_collision_enabled: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( mini_cheetah_urdf_path, self._GetDefaultInitPosition(), self._GetDefaultInitOrientation(), - flags=self._pybullet_client.URDF_USE_SELF_COLLISION) + flags=self._pycram_bullet_client.URDF_USE_SELF_COLLISION) else: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( mini_cheetah_urdf_path, self._GetDefaultInitPosition(), self._GetDefaultInitOrientation()) @@ -87,7 +87,7 @@ def _SettleDownForReset(self, default_motor_angles, reset_time): self.ApplyAction( INIT_MOTOR_ANGLES, motor_control_mode=robot_config.MotorControlMode.POSITION) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() if default_motor_angles is not None: num_steps_to_reset = int(reset_time / self.time_step) @@ -95,7 +95,7 @@ def _SettleDownForReset(self, default_motor_angles, reset_time): self.ApplyAction( default_motor_angles, motor_control_mode=robot_config.MotorControlMode.POSITION) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() def GetURDFFile(self): @@ -105,15 +105,15 @@ def ResetPose(self, add_constraint): del add_constraint for name in self._joint_name_to_id: joint_id = self._joint_name_to_id[name] - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(joint_id), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=0) for name, i in zip(MOTOR_NAMES, range(len(MOTOR_NAMES))): angle = INIT_MOTOR_ANGLES[i] - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self.quadruped, self._joint_name_to_id[name], angle, targetVelocity=0) def _BuildUrdfIds(self): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/mini_cheetah_test.py similarity index 59% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/mini_cheetah_test.py index 94acf54c0a..786cf1541f 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah_test.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/mini_cheetah_test.py @@ -1,4 +1,4 @@ -"""Tests for pybullet_envs.minitaur.robots.mini_cheetah. +"""Tests for pycram_bullet_envs.minitaur.robots.mini_cheetah. blaze test -c opt //robotics/reinforcement_learning/minitaur/robots:mini_cheetah_test @@ -10,8 +10,8 @@ import math import numpy as np -from pybullet_envs.minitaur.envs import bullet_client -from pybullet_envs.minitaur.robots import mini_cheetah +from pycram_bullet_envs.minitaur.envs import bullet_client +from pycram_bullet_envs.minitaur.robots import mini_cheetah from google3.testing.pybase import googletest PI = math.pi @@ -23,23 +23,23 @@ class MiniCheetahTest(googletest.TestCase): def test_init(self): - pybullet_client = bullet_client.BulletClient() - pybullet_client.enable_cns() + pycram_bullet_client = bullet_client.BulletClient() + pycram_bullet_client.enable_cns() robot = mini_cheetah.MiniCheetah( - pybullet_client=pybullet_client, time_step=TIME_STEP, on_rack=True) + pycram_bullet_client=pycram_bullet_client, time_step=TIME_STEP, on_rack=True) self.assertIsNotNone(robot) def test_static_pose_on_rack(self): - pybullet_client = bullet_client.BulletClient() - pybullet_client.enable_cns() - pybullet_client.resetSimulation() - pybullet_client.setPhysicsEngineParameter(numSolverIterations=60) - pybullet_client.setTimeStep(TIME_STEP) - pybullet_client.setGravity(0, 0, -10) + pycram_bullet_client = bullet_client.BulletClient() + pycram_bullet_client.enable_cns() + pycram_bullet_client.resetSimulation() + pycram_bullet_client.setPhysicsEngineParameter(numSolverIterations=60) + pycram_bullet_client.setTimeStep(TIME_STEP) + pycram_bullet_client.setGravity(0, 0, -10) robot = ( mini_cheetah.MiniCheetah( - pybullet_client=pybullet_client, + pycram_bullet_client=pycram_bullet_client, action_repeat=5, time_step=0.002, on_rack=True)) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur.py similarity index 91% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur.py index 9494c9ef0d..228054b266 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur.py @@ -1,4 +1,4 @@ -"""This file implements the functionalities of a minitaur using pybullet.""" +"""This file implements the functionalities of a minitaur using pycram_bullet.""" from __future__ import absolute_import from __future__ import division from __future__ import print_function @@ -10,13 +10,13 @@ import re import numpy as np import gin -from pybullet_envs.minitaur.robots import minitaur_constants -from pybullet_envs.minitaur.robots import minitaur_motor -from pybullet_envs.minitaur.robots import robot_config -from pybullet_envs.minitaur.robots.safety import safety_checker -from pybullet_envs.minitaur.robots.safety import safety_error -from pybullet_envs.minitaur.robots.utilities import action_filter -from pybullet_envs.minitaur.robots.utilities import kinematics +from pycram_bullet_envs.minitaur.robots import minitaur_constants +from pycram_bullet_envs.minitaur.robots import minitaur_motor +from pycram_bullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots.safety import safety_checker +from pycram_bullet_envs.minitaur.robots.safety import safety_error +from pycram_bullet_envs.minitaur.robots.utilities import action_filter +from pycram_bullet_envs.minitaur.robots.utilities import kinematics INIT_POSITION = [0, 0, .2] INIT_RACK_POSITION = [0, 0, 1] @@ -73,7 +73,7 @@ class Minitaur(object): """The minitaur class that simulates a quadruped robot from Ghost Robotics.""" def __init__(self, - pybullet_client, + pycram_bullet_client, num_motors=MINITAUR_NUM_MOTORS, dofs_per_leg=MINITAUR_DOFS_PER_LEG, urdf_root=URDF_ROOT, @@ -100,7 +100,7 @@ def __init__(self, """Constructs a minitaur and reset it to the initial states. Args: - pybullet_client: The instance of BulletClient to manage different + pycram_bullet_client: The instance of BulletClient to manage different simulations. num_motors: The number of the motors on the robot. dofs_per_leg: The number of degrees of freedom for each leg. @@ -151,7 +151,7 @@ def __init__(self, """ self.num_motors = num_motors self.num_legs = self.num_motors // dofs_per_leg - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._action_repeat = action_repeat self._urdf_root = urdf_root self._self_collision_enabled = self_collision_enabled @@ -217,7 +217,7 @@ def __init__(self, # This also includes the time spent during the Reset motion. self._state_action_counter = 0 - _, self._init_orientation_inv = self._pybullet_client.invertTransform( + _, self._init_orientation_inv = self._pycram_bullet_client.invertTransform( position=[0, 0, 0], orientation=self._GetDefaultInitOrientation()) if self._enable_action_filter: @@ -234,7 +234,7 @@ def GetTimeSinceReset(self): def _StepInternal(self, action, motor_control_mode=None): self.ApplyAction(action, motor_control_mode) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.ReceiveObservation() self._state_action_counter += 1 @@ -269,21 +269,21 @@ def _RecordMassInfoFromURDF(self): self._base_mass_urdf = [] for chassis_id in self._chassis_link_ids: self._base_mass_urdf.append( - self._pybullet_client.getDynamicsInfo(self.quadruped, chassis_id)[0]) + self._pycram_bullet_client.getDynamicsInfo(self.quadruped, chassis_id)[0]) self._leg_masses_urdf = [] for leg_id in self._leg_link_ids: self._leg_masses_urdf.append( - self._pybullet_client.getDynamicsInfo(self.quadruped, leg_id)[0]) + self._pycram_bullet_client.getDynamicsInfo(self.quadruped, leg_id)[0]) for motor_id in self._motor_link_ids: self._leg_masses_urdf.append( - self._pybullet_client.getDynamicsInfo(self.quadruped, motor_id)[0]) + self._pycram_bullet_client.getDynamicsInfo(self.quadruped, motor_id)[0]) def _RecordInertiaInfoFromURDF(self): """Record the inertia of each body from URDF file.""" self._link_urdf = [] - num_bodies = self._pybullet_client.getNumJoints(self.quadruped) + num_bodies = self._pycram_bullet_client.getNumJoints(self.quadruped) for body_id in range(-1, num_bodies): # -1 is for the base link. - inertia = self._pybullet_client.getDynamicsInfo(self.quadruped, + inertia = self._pycram_bullet_client.getDynamicsInfo(self.quadruped, body_id)[2] self._link_urdf.append(inertia) # We need to use id+1 to index self._link_urdf because it has the base @@ -298,10 +298,10 @@ def _RecordInertiaInfoFromURDF(self): [self._link_urdf[motor_id + 1] for motor_id in self._motor_link_ids]) def _BuildJointNameToIdDict(self): - num_joints = self._pybullet_client.getNumJoints(self.quadruped) + num_joints = self._pycram_bullet_client.getNumJoints(self.quadruped) self._joint_name_to_id = {} for i in range(num_joints): - joint_info = self._pybullet_client.getJointInfo(self.quadruped, i) + joint_info = self._pycram_bullet_client.getJointInfo(self.quadruped, i) self._joint_name_to_id[joint_info[1].decode("UTF-8")] = joint_info[0] def _BuildUrdfIds(self): @@ -310,7 +310,7 @@ def _BuildUrdfIds(self): Raises: ValueError: Unknown category of the joint name. """ - num_joints = self._pybullet_client.getNumJoints(self.quadruped) + num_joints = self._pycram_bullet_client.getNumJoints(self.quadruped) self._chassis_link_ids = [-1] # The self._leg_link_ids include both the upper and lower links of the leg. self._leg_link_ids = [] @@ -318,7 +318,7 @@ def _BuildUrdfIds(self): self._foot_link_ids = [] self._bracket_link_ids = [] for i in range(num_joints): - joint_info = self._pybullet_client.getJointInfo(self.quadruped, i) + joint_info = self._pycram_bullet_client.getJointInfo(self.quadruped, i) joint_name = joint_info[1].decode("UTF-8") joint_id = self._joint_name_to_id[joint_name] if _CHASSIS_NAME_PATTERN.match(joint_name): @@ -344,10 +344,10 @@ def _BuildUrdfIds(self): self._bracket_link_ids.sort() def _RemoveDefaultJointDamping(self): - num_joints = self._pybullet_client.getNumJoints(self.quadruped) + num_joints = self._pycram_bullet_client.getNumJoints(self.quadruped) for i in range(num_joints): - joint_info = self._pybullet_client.getJointInfo(self.quadruped, i) - self._pybullet_client.changeDynamics( + joint_info = self._pycram_bullet_client.getJointInfo(self.quadruped, i) + self._pycram_bullet_client.changeDynamics( joint_info[0], -1, linearDamping=0, angularDamping=0) def _BuildMotorIdList(self): @@ -369,12 +369,12 @@ def _CreateRackConstraint(self, init_position, init_orientation): Returns: Return the constraint id. """ - fixed_constraint = self._pybullet_client.createConstraint( + fixed_constraint = self._pycram_bullet_client.createConstraint( parentBodyUniqueId=self.quadruped, parentLinkIndex=-1, childBodyUniqueId=-1, childLinkIndex=-1, - jointType=self._pybullet_client.JOINT_FIXED, + jointType=self._pycram_bullet_client.JOINT_FIXED, jointAxis=[0, 0, 0], parentFramePosition=[0, 0, 0], childFramePosition=init_position, @@ -420,10 +420,10 @@ def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0): self._RecordInertiaInfoFromURDF() self.ResetPose(add_constraint=True) else: - self._pybullet_client.resetBasePositionAndOrientation( + self._pycram_bullet_client.resetBasePositionAndOrientation( self.quadruped, self._GetDefaultInitPosition(), self._GetDefaultInitOrientation()) - self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], + self._pycram_bullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0]) self.ResetPose(add_constraint=False) @@ -449,13 +449,13 @@ def _LoadRobotURDF(self): """Loads the URDF file for the robot.""" urdf_file = self.GetURDFFile() if self._self_collision_enabled: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( urdf_file, self._GetDefaultInitPosition(), self._GetDefaultInitOrientation(), - flags=self._pybullet_client.URDF_USE_SELF_COLLISION) + flags=self._pycram_bullet_client.URDF_USE_SELF_COLLISION) else: - self.quadruped = self._pybullet_client.loadURDF( + self.quadruped = self._pycram_bullet_client.loadURDF( urdf_file, self._GetDefaultInitPosition(), self._GetDefaultInitOrientation()) @@ -495,17 +495,17 @@ def _SettleDownForReset(self, default_motor_angles, reset_time): return def _SetMotorTorqueById(self, motor_id, torque): - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=motor_id, - controlMode=self._pybullet_client.TORQUE_CONTROL, + controlMode=self._pycram_bullet_client.TORQUE_CONTROL, force=torque) def _SetMotorTorqueByIds(self, motor_ids, torques): - self._pybullet_client.setJointMotorControlArray( + self._pycram_bullet_client.setJointMotorControlArray( bodyIndex=self.quadruped, jointIndices=motor_ids, - controlMode=self._pybullet_client.TORQUE_CONTROL, + controlMode=self._pycram_bullet_client.TORQUE_CONTROL, forces=torques) def _SetDesiredMotorAngleByName(self, motor_name, desired_angle): @@ -537,61 +537,61 @@ def _ResetPoseForLeg(self, leg_id, add_constraint): knee_angle = -2.1834 leg_position = LEG_POSITION[leg_id] - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self.quadruped, self._joint_name_to_id["motor_" + leg_position + "L_joint"], self._motor_direction[2 * leg_id] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_link"], self._motor_direction[2 * leg_id] * knee_angle, targetVelocity=0) - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self.quadruped, self._joint_name_to_id["motor_" + leg_position + "R_joint"], self._motor_direction[2 * leg_id + 1] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_link"], self._motor_direction[2 * leg_id + 1] * knee_angle, targetVelocity=0) if add_constraint: - self._pybullet_client.createConstraint( + self._pycram_bullet_client.createConstraint( self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_link"], self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_link"], - self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], + self._pycram_bullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_RIGHT, KNEE_CONSTRAINT_POINT_LEFT) - # Disable the default motor in pybullet. - self._pybullet_client.setJointMotorControl2( + # Disable the default motor in pycram_bullet. + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "L_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["motor_" + leg_position + "R_joint"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "L_link"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=(self._joint_name_to_id["knee_" + leg_position + "R_link"]), - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=knee_friction_force) @@ -609,7 +609,7 @@ def GetBaseVelocity(self): Returns: The velocity of minitaur's base. """ - velocity, _ = self._pybullet_client.getBaseVelocity(self.quadruped) + velocity, _ = self._pycram_bullet_client.getBaseVelocity(self.quadruped) return velocity def GetTrueBaseRollPitchYaw(self): @@ -619,7 +619,7 @@ def GetTrueBaseRollPitchYaw(self): A tuple (roll, pitch, yaw) of the base in world frame. """ orientation = self.GetTrueBaseOrientation() - roll_pitch_yaw = self._pybullet_client.getEulerFromQuaternion(orientation) + roll_pitch_yaw = self._pycram_bullet_client.getEulerFromQuaternion(orientation) return np.asarray(roll_pitch_yaw) def GetBaseRollPitchYaw(self): @@ -632,7 +632,7 @@ def GetBaseRollPitchYaw(self): """ delayed_orientation = np.array( self._control_observation[3 * self.num_motors:3 * self.num_motors + 4]) - delayed_roll_pitch_yaw = self._pybullet_client.getEulerFromQuaternion( + delayed_roll_pitch_yaw = self._pycram_bullet_client.getEulerFromQuaternion( delayed_orientation) roll_pitch_yaw = self._AddSensorNoise( np.array(delayed_roll_pitch_yaw), self._observation_noise_stdev[3]) @@ -734,13 +734,13 @@ def GetFootContacts(self): link_id_1 = self._foot_link_ids[leg_idx * 2] link_id_2 = self._foot_link_ids[leg_idx * 2 + 1] contact_1 = bool( - self._pybullet_client.getContactPoints( + self._pycram_bullet_client.getContactPoints( bodyA=0, bodyB=self.quadruped, linkIndexA=-1, linkIndexB=link_id_1)) contact_2 = bool( - self._pybullet_client.getContactPoints( + self._pycram_bullet_client.getContactPoints( bodyA=0, bodyB=self.quadruped, linkIndexA=-1, @@ -866,7 +866,7 @@ def GetBaseOrientation(self): Returns: The orientation of minitaur's base polluted by noise and latency. """ - return self._pybullet_client.getQuaternionFromEuler( + return self._pycram_bullet_client.getQuaternionFromEuler( self.GetBaseRollPitchYaw()) def GetTrueBaseRollPitchYawRate(self): @@ -875,7 +875,7 @@ def GetTrueBaseRollPitchYawRate(self): Returns: rate of (roll, pitch, yaw) change of the minitaur's base. """ - angular_velocity = self._pybullet_client.getBaseVelocity(self.quadruped)[1] + angular_velocity = self._pycram_bullet_client.getBaseVelocity(self.quadruped)[1] orientation = self.GetTrueBaseOrientation() return self.TransformAngularVelocityToLocalFrame(angular_velocity, orientation) @@ -893,13 +893,13 @@ def TransformAngularVelocityToLocalFrame(self, angular_velocity, orientation): # Treat angular velocity as a position vector, then transform based on the # orientation given by dividing (or multiplying with inverse). # Get inverse quaternion assuming the vector is at 0,0,0 origin. - _, orientation_inversed = self._pybullet_client.invertTransform([0, 0, 0], + _, orientation_inversed = self._pycram_bullet_client.invertTransform([0, 0, 0], orientation) # Transform the angular_velocity at neutral orientation using a neutral # translation and reverse of the given orientation. - relative_velocity, _ = self._pybullet_client.multiplyTransforms( + relative_velocity, _ = self._pycram_bullet_client.multiplyTransforms( [0, 0, 0], orientation_inversed, angular_velocity, - self._pybullet_client.getQuaternionFromEuler([0, 0, 0])) + self._pycram_bullet_client.getQuaternionFromEuler([0, 0, 0])) return np.asarray(relative_velocity) def GetBaseRollPitchYawRate(self): @@ -1042,7 +1042,7 @@ def SetBaseMasses(self, base_mass): "The length of base_mass {} and self._chassis_link_ids {} are not " "the same.".format(len(base_mass), len(self._chassis_link_ids))) for chassis_id, chassis_mass in zip(self._chassis_link_ids, base_mass): - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self.quadruped, chassis_id, mass=chassis_mass) def SetLegMasses(self, leg_masses): @@ -1063,11 +1063,11 @@ def SetLegMasses(self, leg_masses): raise ValueError("The number of values passed to SetLegMasses are " "different than number of leg links and motors.") for leg_id, leg_mass in zip(self._leg_link_ids, leg_masses): - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self.quadruped, leg_id, mass=leg_mass) motor_masses = leg_masses[len(self._leg_link_ids):] for link_id, motor_mass in zip(self._motor_link_ids, motor_masses): - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self.quadruped, link_id, mass=motor_mass) def SetBaseInertias(self, base_inertias): @@ -1093,7 +1093,7 @@ def SetBaseInertias(self, base_inertias): for inertia_value in chassis_inertia: if (np.asarray(inertia_value) < 0).any(): raise ValueError("Values in inertia matrix should be non-negative.") - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self.quadruped, chassis_id, localInertiaDiagonal=chassis_inertia) def SetLegInertias(self, leg_inertias): @@ -1118,7 +1118,7 @@ def SetLegInertias(self, leg_inertias): for inertia_value in leg_inertias: if (np.asarray(inertia_value) < 0).any(): raise ValueError("Values in inertia matrix should be non-negative.") - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self.quadruped, leg_id, localInertiaDiagonal=leg_inertia) motor_inertias = leg_inertias[len(self._leg_link_ids):] @@ -1126,7 +1126,7 @@ def SetLegInertias(self, leg_inertias): for inertia_value in motor_inertias: if (np.asarray(inertia_value) < 0).any(): raise ValueError("Values in inertia matrix should be non-negative.") - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self.quadruped, link_id, localInertiaDiagonal=motor_inertia) def SetFootFriction(self, foot_friction): @@ -1137,7 +1137,7 @@ def SetFootFriction(self, foot_friction): shared by all four feet. """ for link_id in self._foot_link_ids: - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self.quadruped, link_id, lateralFriction=foot_friction) # TODO(b/73748980): Add more API's to set other contact parameters. @@ -1149,15 +1149,15 @@ def SetFootRestitution(self, foot_restitution): This value is shared by all four feet. """ for link_id in self._foot_link_ids: - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self.quadruped, link_id, restitution=foot_restitution) def SetJointFriction(self, joint_frictions): for knee_joint_id, friction in zip(self._foot_link_ids, joint_frictions): - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self.quadruped, jointIndex=knee_joint_id, - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=friction) @@ -1185,13 +1185,13 @@ def ReceiveObservation(self): This function is called once per step. The observations are only updated when this function is called. """ - self._joint_states = self._pybullet_client.getJointStates( + self._joint_states = self._pycram_bullet_client.getJointStates( self.quadruped, self._motor_id_list) self._base_position, orientation = ( - self._pybullet_client.getBasePositionAndOrientation(self.quadruped)) + self._pycram_bullet_client.getBasePositionAndOrientation(self.quadruped)) # Computes the relative orientation relative to the robot's # initial_orientation. - _, self._base_orientation = self._pybullet_client.multiplyTransforms( + _, self._base_orientation = self._pycram_bullet_client.multiplyTransforms( positionA=[0, 0, 0], orientationA=orientation, positionB=[0, 0, 0], @@ -1370,7 +1370,7 @@ def _GetDefaultInitOrientation(self): # If we want continuous resetting and is not the first episode. if self._reset_at_current_position and self._observation_history: _, _, yaw = self.GetBaseRollPitchYaw() - return self._pybullet_client.getQuaternionFromEuler([0.0, 0.0, yaw]) + return self._pycram_bullet_client.getQuaternionFromEuler([0.0, 0.0, yaw]) return INIT_ORIENTATION @property @@ -1466,8 +1466,8 @@ def _FilterAction(self, action): return filtered_action @property - def pybullet_client(self): - return self._pybullet_client + def pycram_bullet_client(self): + return self._pycram_bullet_client @property def joint_states(self): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_constants.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_constants.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_constants.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_constants.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_motor.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_motor.py index 2ec0c927eb..dd184a9014 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_motor.py @@ -2,7 +2,7 @@ import numpy as np -from pybullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots import robot_config VOLTAGE_CLIPPING = 50 # TODO(b/73728631): Clamp the pwm signal instead of the OBSERVED_TORQUE_LIMIT. diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor_model_v2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_motor_model_v2.py similarity index 97% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor_model_v2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_motor_model_v2.py index 40927cc7ce..7a483a96f9 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor_model_v2.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_motor_model_v2.py @@ -6,8 +6,8 @@ import gin import numpy as np -from pybullet_envs.minitaur.robots import hybrid_motor_model -from pybullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots import hybrid_motor_model +from pycram_bullet_envs.minitaur.robots import robot_config VOLTAGE_CLIPPING = 50 # TODO(b/73728631): Clamp the pwm signal instead of the OBSERVED_TORQUE_LIMIT. diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_v2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_v2.py similarity index 84% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_v2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_v2.py index 34d97a50df..7da2f0871e 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_v2.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/minitaur_v2.py @@ -6,10 +6,10 @@ from absl import logging import gin -from pybullet_envs.minitaur.robots import minitaur_constants -from pybullet_envs.minitaur.robots import quadruped_base -from pybullet_envs.minitaur.robots import robot_config -from pybullet_envs.minitaur.robots import robot_urdf_loader +from pycram_bullet_envs.minitaur.robots import minitaur_constants +from pycram_bullet_envs.minitaur.robots import quadruped_base +from pycram_bullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots import robot_urdf_loader @gin.configurable @@ -29,7 +29,7 @@ def _pre_load(self): ) self._urdf_loader = robot_urdf_loader.RobotUrdfLoader( - pybullet_client=self._pybullet_client, + pycram_bullet_client=self._pycram_bullet_client, enable_self_collision=True, urdf_path=minitaur_constants.MINITAUR_URDF_PATH, init_base_position=minitaur_constants.INIT_POSITION, @@ -49,43 +49,43 @@ def _on_load(self): half_pi = math.pi / 2.0 knee_angle = -2.1834 for (leg_id, leg_position) in enumerate(minitaur_constants.LEG_ORDER): - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self._urdf_loader.robot_id, self._joint_id_dict["motor_" + leg_position + "L_joint"], self._motor_directions[2 * leg_id] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self._urdf_loader.robot_id, self._joint_id_dict["knee_" + leg_position + "L_joint"], self._motor_directions[2 * leg_id] * knee_angle, targetVelocity=0) - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self._urdf_loader.robot_id, self._joint_id_dict["motor_" + leg_position + "R_joint"], self._motor_directions[2 * leg_id + 1] * half_pi, targetVelocity=0) - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self._urdf_loader.robot_id, self._joint_id_dict["knee_" + leg_position + "R_joint"], self._motor_directions[2 * leg_id + 1] * knee_angle, targetVelocity=0) if leg_id < 2: - self._pybullet_client.createConstraint( + self._pycram_bullet_client.createConstraint( self._urdf_loader.robot_id, self._joint_id_dict["knee_" + leg_position + "R_joint"], self._urdf_loader.robot_id, self._joint_id_dict["knee_" + leg_position + "L_joint"], - self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], + self._pycram_bullet_client.JOINT_POINT2POINT, [0, 0, 0], minitaur_constants.KNEE_CONSTRAINT_POINT_SHORT, minitaur_constants.KNEE_CONSTRAINT_POINT_LONG) else: - self._pybullet_client.createConstraint( + self._pycram_bullet_client.createConstraint( self._urdf_loader.robot_id, self._joint_id_dict["knee_" + leg_position + "R_joint"], self._urdf_loader.robot_id, self._joint_id_dict["knee_" + leg_position + "L_joint"], - self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], + self._pycram_bullet_client.JOINT_POINT2POINT, [0, 0, 0], minitaur_constants.KNEE_CONSTRAINT_POINT_LONG, minitaur_constants.KNEE_CONSTRAINT_POINT_SHORT) self.receive_observation() @@ -118,5 +118,5 @@ def _reset_joint_angles(self, for _ in range(num_reset_steps): self.apply_action( actions, motor_control_mode=robot_config.MotorControlMode.POSITION) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.receive_observation() diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/object_controller.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/object_controller.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/object_controller.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/object_controller.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/quadruped_base.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/quadruped_base.py similarity index 90% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/quadruped_base.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/quadruped_base.py index 960c278ed6..a8f44e9f34 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/quadruped_base.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/quadruped_base.py @@ -5,14 +5,14 @@ import gym import numpy as np -from pybullet_utils import bullet_client -from pybullet_envs.minitaur.envs_v2.sensors import sensor as sensor_lib -from pybullet_envs.minitaur.robots import hybrid_motor_model -from pybullet_envs.minitaur.robots import robot_base -from pybullet_envs.minitaur.robots import robot_config -from pybullet_envs.minitaur.robots import robot_urdf_loader -from pybullet_envs.minitaur.robots.safety import data_types as safety_data_types -from pybullet_envs.minitaur.robots.utilities import kinematics_utils +from pycram_bullet_utils import bullet_client +from pycram_bullet_envs.minitaur.envs_v2.sensors import sensor as sensor_lib +from pycram_bullet_envs.minitaur.robots import hybrid_motor_model +from pycram_bullet_envs.minitaur.robots import robot_base +from pycram_bullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots import robot_urdf_loader +from pycram_bullet_envs.minitaur.robots.safety import data_types as safety_data_types +from pycram_bullet_envs.minitaur.robots.utilities import kinematics_utils _UNIT_QUATERNION = (0, 0, 0, 1) _GRAVITY_ACCELERATION_OFFSET = (0, 0, 10) @@ -24,7 +24,7 @@ class QuadrupedBase(robot_base.RobotBase): def __init__( self, - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, clock: Callable[..., float], motor_control_mode: robot_config.MotorControlMode, motor_limits: robot_config.MotorLimits, @@ -37,7 +37,7 @@ def __init__( """Initializes the class. Args: - pybullet_client: The PyBullet client. + pycram_bullet_client: The PyBullet client. clock: The sim or real clock. The clock function is typically provided by the gym environment. motor_control_mode: Specifies in which mode the motor operates. @@ -50,7 +50,7 @@ def __init__( **kwargs: Additional args. """ - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._clock = clock self._motor_control_mode = motor_control_mode self._motor_model_class = motor_model_class @@ -89,29 +89,29 @@ def load( if not self._urdf_loader: self._urdf_loader = robot_urdf_loader.RobotUrdfLoader( - pybullet_client=self._pybullet_client) + pycram_bullet_client=self._pycram_bullet_client) # Record the urdf pose at loading, which will be used as the rotation # reference for base rotation computation. self._init_urdf_position, self._init_orientation_quat = ( - self._pybullet_client.getBasePositionAndOrientation( + self._pycram_bullet_client.getBasePositionAndOrientation( self._urdf_loader.robot_id)) unused_position, self._init_orientation_inv_quat = ( - self._pybullet_client.invertTransform( + self._pycram_bullet_client.invertTransform( position=(0, 0, 0), orientation=self._init_orientation_quat)) # Joint ids may be different from the motor ids. self._joint_id_dict = self._urdf_loader.get_joint_id_dict() for joint_id in self._joint_id_dict.values(): # Disables the default motors in PyBullet. - self._pybullet_client.setJointMotorControl2( + self._pycram_bullet_client.setJointMotorControl2( bodyIndex=self._urdf_loader.robot_id, jointIndex=joint_id, - controlMode=self._pybullet_client.VELOCITY_CONTROL, + controlMode=self._pycram_bullet_client.VELOCITY_CONTROL, targetVelocity=0, force=0) # Removes the default joint damping in PyBullet. - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( self._urdf_loader.robot_id, joint_id, linearDamping=0, @@ -267,10 +267,10 @@ def reset( # different base orientation. This base pose will be used as zero # rotation reference for base rotation computation. self._init_urdf_position, self._init_orientation_quat = ( - self._pybullet_client.getBasePositionAndOrientation( + self._pycram_bullet_client.getBasePositionAndOrientation( self._urdf_loader.robot_id)) unused_position, self._init_orientation_inv_quat = ( - self._pybullet_client.invertTransform( + self._pycram_bullet_client.invertTransform( position=(0, 0, 0), orientation=self._init_orientation_quat)) # Updates the observation at the end of resetting. @@ -335,7 +335,7 @@ def step(self, action: Any, num_sub_steps: int = 1): # TODO(b/149252003): Add sub sampling. self.apply_action(action) # Timestep is pre-determined at simulation setup. - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self.receive_observation() self.post_control_step() @@ -370,21 +370,21 @@ def apply_action(self, motor_commands, motor_control_mode=None): # directions. applied_motor_torques = np.multiply(actual_torques, self._motor_directions) - self._pybullet_client.setJointMotorControlArray( + self._pycram_bullet_client.setJointMotorControlArray( bodyIndex=self._urdf_loader.robot_id, jointIndices=self._motor_ids, - controlMode=self._pybullet_client.TORQUE_CONTROL, + controlMode=self._pycram_bullet_client.TORQUE_CONTROL, forces=applied_motor_torques) def _get_base_roll_pitch_yaw_rate(self): - _, angular_velocity = self._pybullet_client.getBaseVelocity( + _, angular_velocity = self._pycram_bullet_client.getBaseVelocity( self._urdf_loader.robot_id) return kinematics_utils.rotate_to_base_frame( - self._pybullet_client, self.urdf_loader.robot_id, angular_velocity, + self._pycram_bullet_client, self.urdf_loader.robot_id, angular_velocity, self._init_orientation_inv_quat) def _get_base_velocity(self): - base_velocity, _ = self._pybullet_client.getBaseVelocity( + base_velocity, _ = self._pycram_bullet_client.getBaseVelocity( self._urdf_loader.robot_id) return base_velocity @@ -394,12 +394,12 @@ def _update_base_acceleration(self): self._last_base_acceleration_world = ( np.array(self._base_velocity) - self._last_base_velocity) / ( self.timestamp - self._last_observation_time) - _, inv_base_orientation = self.pybullet_client.invertTransform( + _, inv_base_orientation = self.pycram_bullet_client.invertTransform( np.zeros(3), np.array(self.base_orientation_quaternion)) # An offset is added to the acceleration measured in the world frame # because the accelerometer reading is in the frame of free-falling robot. - base_acceleration_accelerometer = self.pybullet_client.multiplyTransforms( + base_acceleration_accelerometer = self.pycram_bullet_client.multiplyTransforms( np.zeros(3), inv_base_orientation, self._last_base_acceleration_world + _GRAVITY_ACCELERATION_OFFSET, _UNIT_QUATERNION)[0] @@ -411,20 +411,20 @@ def receive_observation(self): # Update the intrinsic values including the joint angles, joint # velocities, and imu readings. self._base_position, base_orientation_quat = ( - self._pybullet_client.getBasePositionAndOrientation( + self._pycram_bullet_client.getBasePositionAndOrientation( self._urdf_loader.robot_id)) - _, self._base_orientation_quat = self._pybullet_client.multiplyTransforms( + _, self._base_orientation_quat = self._pycram_bullet_client.multiplyTransforms( positionA=(0, 0, 0), orientationA=self._init_orientation_inv_quat, positionB=(0, 0, 0), orientationB=base_orientation_quat) self._base_velocity = self._get_base_velocity() - self._base_roll_pitch_yaw = self._pybullet_client.getEulerFromQuaternion( + self._base_roll_pitch_yaw = self._pycram_bullet_client.getEulerFromQuaternion( self._base_orientation_quat) self._base_roll_pitch_yaw_rate = self._get_base_roll_pitch_yaw_rate() - self._joint_states = self._pybullet_client.getJointStates( + self._joint_states = self._pycram_bullet_client.getJointStates( self._urdf_loader.robot_id, self._motor_ids) self._motor_angles = np.array( [joint_state[0] for joint_state in self._joint_states]) @@ -470,7 +470,7 @@ def motor_angles_from_foot_positions(self, joint_position_idxs = np.arange(self.num_motors) foot_link_ids = tuple(self._urdf_loader.get_end_effector_id_dict().values()) joint_angles = kinematics_utils.joint_angles_from_link_positions( - pybullet_client=self.pybullet_client, + pycram_bullet_client=self.pycram_bullet_client, urdf_id=self.robot_id, link_positions=foot_positions, link_ids=foot_link_ids, @@ -490,14 +490,14 @@ def foot_positions(self, position_in_world_frame=False): if not position_in_world_frame: foot_positions.append( kinematics_utils.link_position_in_base_frame( - pybullet_client=self.pybullet_client, + pycram_bullet_client=self.pycram_bullet_client, urdf_id=self.robot_id, link_id=foot_id, )) else: foot_positions.append( kinematics_utils.link_position_in_world_frame( - pybullet_client=self.pybullet_client, + pycram_bullet_client=self.pycram_bullet_client, urdf_id=self.robot_id, link_id=foot_id, )) @@ -519,7 +519,7 @@ def feet_contact_forces(self) -> Sequence[np.ndarray]: foot_link_ids = tuple(self._urdf_loader.get_end_effector_id_dict().values()) contact_forces = [np.zeros(3) for _ in range(len(foot_link_ids))] - all_contacts = self._pybullet_client.getContactPoints( + all_contacts = self._pycram_bullet_client.getContactPoints( bodyA=self._urdf_loader.robot_id) for contact in all_contacts: @@ -538,7 +538,7 @@ def feet_contact_forces(self) -> Sequence[np.ndarray]: friction_direction_2) * friction_2 force = normal_force + friction_force local_force = kinematics_utils.rotate_to_base_frame( - self._pybullet_client, self.urdf_loader.robot_id, force, + self._pycram_bullet_client, self.urdf_loader.robot_id, force, self._init_orientation_inv_quat) local_force_norm = np.linalg.norm(local_force) toe_link_order = foot_link_ids.index(link_a_id) @@ -565,7 +565,7 @@ def compute_jacobian_for_one_leg(self, leg_id: int) -> np.ndarray: com_dof = self._urdf_loader.com_dof foot_link_ids = tuple(self._urdf_loader.get_end_effector_id_dict().values()) return kinematics_utils.compute_jacobian( - pybullet_client=self.pybullet_client, + pycram_bullet_client=self.pycram_bullet_client, urdf_id=self.robot_id, link_id=foot_link_ids[leg_id], all_joint_positions=[ @@ -638,7 +638,7 @@ def base_orientation_quaternion_default_frame(self): The base orientation in quaternion in a robot default frame. """ _, base_orientation_quat = ( - self._pybullet_client.getBasePositionAndOrientation( + self._pycram_bullet_client.getBasePositionAndOrientation( self._urdf_loader.robot_id)) return base_orientation_quat @@ -691,8 +691,8 @@ def motor_torques(self): return self._motor_torques @property - def pybullet_client(self): - return self._pybullet_client + def pycram_bullet_client(self): + return self._pycram_bullet_client @property def urdf_loader(self): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_base.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/robot_base.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_base.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/robot_base.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_config.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/robot_config.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_config.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/robot_config.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_urdf_loader.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/robot_urdf_loader.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_urdf_loader.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/robot_urdf_loader.py index 2d4bf710a6..a2ca85f7af 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_urdf_loader.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/robot_urdf_loader.py @@ -7,10 +7,10 @@ import gin import numpy as np -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client # Base link does not have a parent joint. So we just use the string "robot_base" -# for reference. The corresponding link/joint id is always -1 in pybullet. +# for reference. The corresponding link/joint id is always -1 in pycram_bullet. ROBOT_BASE = "robot_base" @@ -46,7 +46,7 @@ class RobotUrdfLoader(object): def __init__( self, - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, urdf_path: Text, constrained_base: bool = False, enable_self_collision: bool = True, @@ -64,7 +64,7 @@ def __init__( """Initialize the class. Args: - pybullet_client: A pybullet client. + pycram_bullet_client: A pycram_bullet client. urdf_path: The path to the URDF to load. constrained_base: Whether to create a FIXED constraint to the base of the URDF. Needs to be True for kinematic robots. This allows us to "hang" @@ -94,7 +94,7 @@ def __init__( user_group: User defined joint groups. For example for quadrupeds, we may want to organize all joints according to which leg they belong to. """ - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._urdf_path = urdf_path self._init_base_position = init_base_position if init_base_orientation_quaternion is not None: @@ -104,7 +104,7 @@ def __init__( raise ValueError("Either init_base_orientation_quaterion " "or init_base_orientation_rpy is required") self._init_base_orientation_quaternion = ( - self._pybullet_client.getQuaternionFromEuler( + self._pycram_bullet_client.getQuaternionFromEuler( init_base_orientation_rpy)) self._constrained_base = constrained_base self._enable_self_collision = enable_self_collision @@ -161,7 +161,7 @@ def get_end_effector_id_dict(self, @property def robot_id(self): - """Returns the unique object instance id of this loaded URDF in pybullet. + """Returns the unique object instance id of this loaded URDF in pycram_bullet. Note this is different from all other get_{}_id APIs, which returns the joint/link id within this robot instance. @@ -190,7 +190,7 @@ def constrained_base(self): def _build_base_dict(self): """Builds the base joints dictionary. - In pybullet, a link's id within the robot always equal to its parent joint + In pycram_bullet, a link's id within the robot always equal to its parent joint id. So this base joint dict functionaly is equivalent to the base link dict. The dictionary may only contain {ROBOT_BASE: -1} if self._base_names is empty. @@ -225,20 +225,20 @@ def _build_all_joint_dict(self): the toe and the lower legs, etc. Returns: - number of joints, all joint information as returned by pybullet, and the + number of joints, all joint information as returned by pycram_bullet, and the joint_name_to_id dictionary. """ - num_joints = self._pybullet_client.getNumJoints(self._robot_id) + num_joints = self._pycram_bullet_client.getNumJoints(self._robot_id) all_joint_info = [ - self._pybullet_client.getJointInfo(self._robot_id, i) + self._pycram_bullet_client.getJointInfo(self._robot_id, i) for i in range(num_joints) ] # Remove the default joint dampings to increase sim fidelity. for joint_info in all_joint_info: joint_id = joint_info[0] - self._pybullet_client.changeDynamics( + self._pycram_bullet_client.changeDynamics( joint_id, -1, linearDamping=0, angularDamping=0) joint_name_to_id = collections.OrderedDict() @@ -285,17 +285,17 @@ def load( def _load_urdf(self, enable_self_collision: bool, init_base_position: Tuple[float], init_base_orientation_quaternion: Tuple[float]) -> int: - """Loads the URDF and returns the pybullet id.""" + """Loads the URDF and returns the pycram_bullet id.""" try: if enable_self_collision: - return self._pybullet_client.loadURDF( + return self._pycram_bullet_client.loadURDF( self._urdf_path, init_base_position, init_base_orientation_quaternion, useFixedBase=self._constrained_base, - flags=self._pybullet_client.URDF_USE_SELF_COLLISION) + flags=self._pycram_bullet_client.URDF_USE_SELF_COLLISION) else: - return self._pybullet_client.loadURDF( + return self._pycram_bullet_client.loadURDF( self._urdf_path, init_base_position, init_base_orientation_quaternion, @@ -337,7 +337,7 @@ def reset_joint_angles(self, joint_angles: Dict[Text, float] = None): for joint_name, angle in joint_angles.items(): urdf_joint_angle = angle * self._joint_directions[ joint_name] + self._joint_offsets[joint_name] - self._pybullet_client.resetJointState( + self._pycram_bullet_client.resetJointState( self._robot_id, self._joint_name_to_id[joint_name], urdf_joint_angle, @@ -361,9 +361,9 @@ def reset_base_pose( base_position = self._init_base_position if base_orientation_quaternion is None: base_orientation_quaternion = self._init_base_orientation_quaternion - self._pybullet_client.resetBasePositionAndOrientation( + self._pycram_bullet_client.resetBasePositionAndOrientation( self._robot_id, base_position, base_orientation_quaternion) - self._pybullet_client.resetBaseVelocity(self._robot_id, (0, 0, 0), + self._pycram_bullet_client.resetBaseVelocity(self._robot_id, (0, 0, 0), (0, 0, 0)) @property diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/data_types.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/data_types.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/data_types.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/data_types.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_action_validator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/motor_action_validator.py similarity index 94% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_action_validator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/motor_action_validator.py index 567add4148..4f385c00d5 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_action_validator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/motor_action_validator.py @@ -5,10 +5,10 @@ from __future__ import print_function import typing -from pybullet_envs.minitaur.robots import robot_config -from pybullet_envs.minitaur.robots.safety import data_types -from pybullet_envs.minitaur.robots.safety import utilities -from pybullet_envs.minitaur.robots.safety.python import moving_window_filter +from pycram_bullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots.safety import data_types +from pycram_bullet_envs.minitaur.robots.safety import utilities +from pycram_bullet_envs.minitaur.robots.safety.python import moving_window_filter _DEQUE_SIZE = 200 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_state_validator.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/motor_state_validator.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_state_validator.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/motor_state_validator.py index 3ccf34c02c..060e6a56de 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_state_validator.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/motor_state_validator.py @@ -10,9 +10,9 @@ import typing -from pybullet_envs.minitaur.robots.safety import data_types -from pybullet_envs.minitaur.robots.safety import utilities -from pybullet_envs.minitaur.robots.safety.python import moving_window_filter +from pycram_bullet_envs.minitaur.robots.safety import data_types +from pycram_bullet_envs.minitaur.robots.safety import utilities +from pycram_bullet_envs.minitaur.robots.safety.python import moving_window_filter # The default internal buffer size for the MotorStateValidator. _DEQUE_SIZE = 200 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/python/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/python/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/moving_window_filter.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/python/moving_window_filter.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/moving_window_filter.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/python/moving_window_filter.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_checker.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/safety_checker.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_checker.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/safety_checker.py index 765028c0e8..0b846f58c1 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_checker.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/safety_checker.py @@ -10,11 +10,11 @@ from __future__ import print_function import typing -from pybullet_envs.minitaur.robots import robot_config -from pybullet_envs.minitaur.robots.safety import data_types -from pybullet_envs.minitaur.robots.safety import motor_action_validator -from pybullet_envs.minitaur.robots.safety import motor_state_validator -from pybullet_envs.minitaur.robots.safety import utilities +from pycram_bullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots.safety import data_types +from pycram_bullet_envs.minitaur.robots.safety import motor_action_validator +from pycram_bullet_envs.minitaur.robots.safety import motor_state_validator +from pycram_bullet_envs.minitaur.robots.safety import utilities _MOTOR_STATE_BUFFER_SIZE = 500 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_error.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/safety_error.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_error.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/safety_error.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/utilities.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/utilities.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/utilities.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/utilities.py index 9703b6bf0d..f29c6e5f4b 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/utilities.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/safety/utilities.py @@ -6,9 +6,9 @@ import collections import typing -from pybullet_envs.minitaur.robots import robot_config -from pybullet_envs.minitaur.robots.safety import data_types -from pybullet_envs.minitaur.robots.safety import safety_error +from pycram_bullet_envs.minitaur.robots import robot_config +from pycram_bullet_envs.minitaur.robots.safety import data_types +from pycram_bullet_envs.minitaur.robots.safety import safety_error def assert_in_bound(name: typing.Text, value: float, bound: data_types.Bound): diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/time_ordered_buffer.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/time_ordered_buffer.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/time_ordered_buffer.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/time_ordered_buffer.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/timestamp.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/timestamp.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp_pb2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/timestamp_pb2.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp_pb2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/timestamp_pb2.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/action_filter.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/action_filter.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/action_filter.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/action_filter.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics.py similarity index 84% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics.py index be5824400e..7c93ae8158 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics.py @@ -39,17 +39,17 @@ def joint_angles_from_link_position( # Projects to local frame. base_position, base_orientation = robot.GetBasePosition( ), robot.GetBaseOrientation() - base_position, base_orientation = robot.pybullet_client.multiplyTransforms( + base_position, base_orientation = robot.pycram_bullet_client.multiplyTransforms( base_position, base_orientation, base_translation, base_rotation) # Projects to world space. - world_link_pos, _ = robot.pybullet_client.multiplyTransforms( + world_link_pos, _ = robot.pycram_bullet_client.multiplyTransforms( base_position, base_orientation, link_position, _IDENTITY_ORIENTATION) else: world_link_pos = link_position ik_solver = 0 - all_joint_angles = robot.pybullet_client.calculateInverseKinematics( + all_joint_angles = robot.pycram_bullet_client.calculateInverseKinematics( robot.quadruped, link_id, world_link_pos, solver=ik_solver) # Extract the relevant joint angles. @@ -71,7 +71,7 @@ def link_position_in_world_frame( The position of the link in the world frame. """ return np.array( - robot.pybullet_client.getLinkState(robot.quadruped, link_id)[0]) + robot.pycram_bullet_client.getLinkState(robot.quadruped, link_id)[0]) def link_position_in_base_frame( @@ -89,12 +89,12 @@ def link_position_in_base_frame( """ base_position, base_orientation = robot.GetBasePosition( ), robot.GetBaseOrientation() - inverse_translation, inverse_rotation = robot.pybullet_client.invertTransform( + inverse_translation, inverse_rotation = robot.pycram_bullet_client.invertTransform( base_position, base_orientation) - link_state = robot.pybullet_client.getLinkState(robot.quadruped, link_id) + link_state = robot.pycram_bullet_client.getLinkState(robot.quadruped, link_id) link_position = link_state[0] - link_local_position, _ = robot.pybullet_client.multiplyTransforms( + link_local_position, _ = robot.pycram_bullet_client.multiplyTransforms( inverse_translation, inverse_rotation, link_position, (0, 0, 0, 1)) return np.array(link_local_position) @@ -119,7 +119,7 @@ def compute_jacobian( all_joint_angles = [state[0] for state in robot.joint_states] zero_vec = [0] * len(all_joint_angles) - jv, _ = robot.pybullet_client.calculateJacobian(robot.quadruped, link_id, + jv, _ = robot.pycram_bullet_client.calculateJacobian(robot.quadruped, link_id, (0, 0, 0), all_joint_angles, zero_vec, zero_vec) jacobian = np.array(jv) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics_utils.py similarity index 79% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics_utils.py index 088f2bcb96..a67c77b73b 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics_utils.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics_utils.py @@ -4,7 +4,7 @@ import numpy as np -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client _IDENTITY_ROTATION_QUAT = (0, 0, 0, 1) _IK_SOLVER_TYPE = 0 @@ -12,7 +12,7 @@ def joint_angles_from_link_positions( - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, urdf_id: int, link_ids: Sequence[int], link_positions: Sequence[Sequence[float]], @@ -22,7 +22,7 @@ def joint_angles_from_link_positions( """Uses Inverse Kinematics to calculate joint angles. Args: - pybullet_client: The bullet client. + pycram_bullet_client: The bullet client. urdf_id: The unique id returned after loading URDF. link_ids: The link ids to compute the IK. link_positions: The (x, y, z) of the links in the body or the world frame, @@ -47,16 +47,16 @@ def joint_angles_from_link_positions( # always query the current base position/orientation to compute world frame # link positions. urdf_base_position, urdf_base_orientation = ( - pybullet_client.getBasePositionAndOrientation(urdf_id)) + pycram_bullet_client.getBasePositionAndOrientation(urdf_id)) world_link_positions = [] for link_position in link_positions: - world_link_position, _ = pybullet_client.multiplyTransforms( + world_link_position, _ = pycram_bullet_client.multiplyTransforms( urdf_base_position, urdf_base_orientation, link_position, _IDENTITY_ROTATION_QUAT) world_link_positions.append(world_link_position) # Notice that the API expects the link positions in the world frame. - all_joint_angles = pybullet_client.calculateInverseKinematics2( + all_joint_angles = pycram_bullet_client.calculateInverseKinematics2( urdf_id, link_ids, world_link_positions, solver=_IK_SOLVER_TYPE) # Extract the relevant joint angles. @@ -67,25 +67,25 @@ def joint_angles_from_link_positions( def link_position_in_world_frame( - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, urdf_id: int, link_id: int, ): """Computes the link's position in the world frame. Args: - pybullet_client: The bullet client. + pycram_bullet_client: The bullet client. urdf_id: The unique id returned after loading URDF. link_id: The link id to calculate its position. Returns: The position of the link in the world frame. """ - return np.array(pybullet_client.getLinkState(urdf_id, link_id)[0]) + return np.array(pycram_bullet_client.getLinkState(urdf_id, link_id)[0]) def link_position_in_base_frame( - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, urdf_id: int, link_id: int, base_link_id: Optional[int] = None, @@ -93,7 +93,7 @@ def link_position_in_base_frame( """Computes the link's local position in the robot frame. Args: - pybullet_client: The bullet client. + pycram_bullet_client: The bullet client. urdf_id: The unique id returned after loading URDF. link_id: The link to calculate its relative position. base_link_id: The link id of the base. For the kinematics robot, such as @@ -106,24 +106,24 @@ def link_position_in_base_frame( """ if base_link_id is None: base_position, base_orientation = ( - pybullet_client.getBasePositionAndOrientation(urdf_id)) + pycram_bullet_client.getBasePositionAndOrientation(urdf_id)) else: - base_link_state = pybullet_client.getLinkState(urdf_id, base_link_id) + base_link_state = pycram_bullet_client.getLinkState(urdf_id, base_link_id) base_position, base_orientation = base_link_state[0], base_link_state[1] - inverse_translation, inverse_rotation = pybullet_client.invertTransform( + inverse_translation, inverse_rotation = pycram_bullet_client.invertTransform( base_position, base_orientation) - link_state = pybullet_client.getLinkState(urdf_id, link_id) + link_state = pycram_bullet_client.getLinkState(urdf_id, link_id) link_position = link_state[0] - link_local_position, _ = pybullet_client.multiplyTransforms( + link_local_position, _ = pycram_bullet_client.multiplyTransforms( inverse_translation, inverse_rotation, link_position, (0, 0, 0, 1)) return np.array(link_local_position) def compute_jacobian( - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, urdf_id: int, link_id: int, all_joint_positions: Sequence[float], @@ -135,7 +135,7 @@ def compute_jacobian( computed Jacobian are also transformed. Args: - pybullet_client: The bullet client. + pycram_bullet_client: The bullet client. urdf_id: The unique id returned after loading URDF. link_id: The link id as returned from loadURDF. all_joint_positions: all the joint positions of the robot. This should @@ -151,7 +151,7 @@ def compute_jacobian( """ zero_vec = [0] * len(all_joint_positions) - jv, _ = pybullet_client.calculateJacobian( + jv, _ = pycram_bullet_client.calculateJacobian( urdf_id, link_id, additional_translation, @@ -164,7 +164,7 @@ def compute_jacobian( def rotate_to_base_frame( - pybullet_client: bullet_client.BulletClient, + pycram_bullet_client: bullet_client.BulletClient, urdf_id: int, vector: Sequence[float], init_orientation_inv_quat: Optional[Sequence[float]] = (0, 0, 0, 1) @@ -175,7 +175,7 @@ def rotate_to_base_frame( do not apply any translation here. Args: - pybullet_client: The bullet client. + pycram_bullet_client: The bullet client. urdf_id: The unique id returned after loading URDF. vector: Input vector in the world frame. init_orientation_inv_quat: @@ -184,13 +184,13 @@ def rotate_to_base_frame( A rotated vector in the base frame. """ _, base_orientation_quat = ( - pybullet_client.getBasePositionAndOrientation(urdf_id)) - _, base_orientation_quat_from_init = pybullet_client.multiplyTransforms( + pycram_bullet_client.getBasePositionAndOrientation(urdf_id)) + _, base_orientation_quat_from_init = pycram_bullet_client.multiplyTransforms( positionA=(0, 0, 0), orientationA=init_orientation_inv_quat, positionB=(0, 0, 0), orientationB=base_orientation_quat) - _, inverse_base_orientation = pybullet_client.invertTransform( + _, inverse_base_orientation = pycram_bullet_client.invertTransform( [0, 0, 0], base_orientation_quat_from_init) # PyBullet transforms requires simple list/tuple or it may crash. @@ -199,7 +199,7 @@ def rotate_to_base_frame( else: vector_list = vector - local_vector, _ = pybullet_client.multiplyTransforms( + local_vector, _ = pycram_bullet_client.multiplyTransforms( positionA=(0, 0, 0), orientationA=inverse_base_orientation, positionB=vector_list, diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/urdf_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/urdf_utils.py similarity index 60% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/urdf_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/urdf_utils.py index f45d4ff86b..92c5fe0067 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/urdf_utils.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/utilities/urdf_utils.py @@ -3,7 +3,7 @@ from typing import Text -# In the return from pybullet.getJointInfo, the name of the link whose parent is +# In the return from pycram_bullet.getJointInfo, the name of the link whose parent is # that joint. LINK_NAME_INDEX = 12 # Indication that link_name_to_id should return -1. This is a constant because @@ -11,15 +11,15 @@ BASE_LINK = "" -def link_name_to_id(link_name: Text, robot_id: int, pybullet_client) -> int: - """Returns the pybullet integer link id corresponding to link_name. +def link_name_to_id(link_name: Text, robot_id: int, pycram_bullet_client) -> int: + """Returns the pycram_bullet integer link id corresponding to link_name. Args: link_name: The name of the link from the URDF. If this is BASE_LINK, returns - -1, the link id of the base according to pybullet convention. + -1, the link id of the base according to pycram_bullet convention. robot_id: Integer id of the robot to which the link belongs, as returned by - pybullet.loadURDF(). - pybullet_client: Client in which the robot is loaded. + pycram_bullet.loadURDF(). + pycram_bullet_client: Client in which the robot is loaded. Returns: Integer id of the link. @@ -30,8 +30,8 @@ def link_name_to_id(link_name: Text, robot_id: int, pybullet_client) -> int: if link_name == BASE_LINK: return -1 link_name_list = [] - for i in range(pybullet_client.getNumJoints(robot_id)): - joint_info = pybullet_client.getJointInfo(robot_id, i) + for i in range(pycram_bullet_client.getNumJoints(robot_id)): + joint_info = pycram_bullet_client.getJointInfo(robot_id, i) link_name_i = joint_info[LINK_NAME_INDEX].decode("UTF-8") if link_name_i == link_name: return i @@ -41,7 +41,7 @@ def link_name_to_id(link_name: Text, robot_id: int, pybullet_client) -> int: def set_collision_filter_group_mask(urdf_id: int, group: int, mask: int, - pybullet_client): + pycram_bullet_client): """Sets the collision filter group and mask to the robot. TODO(tingnan): Check if this has side effects with self collision flags @@ -51,9 +51,9 @@ def set_collision_filter_group_mask(urdf_id: int, group: int, mask: int, urdf_id: The URDF id as returned by the loadURDF. group: The collision group the robot is in. By default, all dynamics objects in PyBullet use collision group 1. - mask: The collision bit mask to use. See go/pybullet for details. - pybullet_client: The bullet client to use. + mask: The collision bit mask to use. See go/pycram_bullet for details. + pycram_bullet_client: The bullet client to use. """ # We includes "-1" for the base link of the URDF. - for link_id in range(-1, pybullet_client.getNumJoints(urdf_id)): - pybullet_client.setCollisionFilterGroupMask(urdf_id, link_id, group, mask) + for link_id in range(-1, pycram_bullet_client.getNumJoints(urdf_id)): + pycram_bullet_client.setCollisionFilterGroupMask(urdf_id, link_id, group, mask) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/vector.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/vector.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/vector.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/vector.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/vector_pb2.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/vector_pb2.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/robots/vector_pb2.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/robots/vector_pb2.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/vision/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_client.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery_client.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_client.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery_client.py index ca2a2e6899..dd234b957d 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_client.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery_client.py @@ -3,9 +3,9 @@ from typing import Any, Dict, Sequence, Text import gin -from pybullet_envs.minitaur.fw_bridge import worker_builder -from pybullet_envs.minitaur.vision import imagery_pb2 -from pybullet_envs.minitaur.vision import imagery_utils +from pycram_bullet_envs.minitaur.fw_bridge import worker_builder +from pycram_bullet_envs.minitaur.vision import imagery_pb2 +from pycram_bullet_envs.minitaur.vision import imagery_utils from google3.third_party.fluxworks.core.fluxworks.python.genericutil_py import fwassert from google3.third_party.fluxworks.core.fluxworks.python.genericutil_py import timeutil diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery_utils.py similarity index 96% rename from examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery_utils.py index ccf8da044c..098f50e77e 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery_utils.py @@ -2,7 +2,7 @@ import numpy as np -from pybullet_envs.minitaur.vision import imagery_pb2 +from pycram_bullet_envs.minitaur.vision import imagery_pb2 # TODO(b/123306148): Support the conversion from image array to the proto. diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils_test.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery_utils_test.py similarity index 95% rename from examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils_test.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery_utils_test.py index 5b5493f64f..c71dd7918e 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils_test.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/imagery_utils_test.py @@ -7,8 +7,8 @@ import struct import numpy as np -from pybullet_envs.minitaur.vision import imagery_pb2 -from pybullet_envs.minitaur.vision import imagery_utils +from pycram_bullet_envs.minitaur.vision import imagery_pb2 +from pycram_bullet_envs.minitaur.vision import imagery_utils from google3.testing.pybase import googletest diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/point_cloud_utils.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/point_cloud_utils.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/vision/point_cloud_utils.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/point_cloud_utils.py diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.proto b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/sim_camera.proto similarity index 100% rename from examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.proto rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/sim_camera.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.py b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/sim_camera.py similarity index 88% rename from examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.py rename to examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/sim_camera.py index 2cd8056ccf..c7e3b1790c 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.py +++ b/examples/pycram_bullet/gym/pybullet_envs/minitaur/vision/sim_camera.py @@ -8,7 +8,7 @@ import enum import gin import numpy as np -from pybullet_envs.minitaur.vision import point_cloud_utils +from pycram_bullet_envs.minitaur.vision import point_cloud_utils _DEFAULT_TARGET_DISTANCE = 10 _DEFAULT_FOV = 60 @@ -78,7 +78,7 @@ def camera_intrinsics_to_projection_matrix(camera_intrinsics, return tuple(projection_mat) -def create_camera_image(pybullet_client, +def create_camera_image(pycram_bullet_client, camera_position, camera_orientation, resolution, @@ -87,7 +87,7 @@ def create_camera_image(pybullet_client, """Creates a simulated camera image. Args: - pybullet_client: A pybullet client. + pycram_bullet_client: A pycram_bullet client. camera_position: A list of three floats. The absolute location of the camera in the simulated world. camera_orientation: A list of four floats. The orientation of the camera in @@ -103,7 +103,7 @@ def create_camera_image(pybullet_client, camera image. """ - orientation_mat = pybullet_client.getMatrixFromQuaternion(camera_orientation) + orientation_mat = pycram_bullet_client.getMatrixFromQuaternion(camera_orientation) # The first column in the orientation matrix. forward_vec = orientation_mat[::3] @@ -118,12 +118,12 @@ def create_camera_image(pybullet_client, # always [0, 0, 1] in its local frame. up_vec = orientation_mat[2::3] - view_mat = pybullet_client.computeViewMatrix(camera_position, camera_target, + view_mat = pycram_bullet_client.computeViewMatrix(camera_position, camera_target, up_vec) renderer = ( - pybullet_client.ER_BULLET_HARDWARE_OPENGL - if egl_render else pybullet_client.ER_TINY_RENDERER) - return pybullet_client.getCameraImage( + pycram_bullet_client.ER_BULLET_HARDWARE_OPENGL + if egl_render else pycram_bullet_client.ER_TINY_RENDERER) + return pycram_bullet_client.getCameraImage( resolution[0], resolution[1], viewMatrix=view_mat, @@ -141,7 +141,7 @@ class MountedCamera(object): """ def __init__(self, - pybullet_client, + pycram_bullet_client, body_id, parent_link_id, relative_translation, @@ -158,8 +158,8 @@ def __init__(self, """Initializes the MounteeCamera class. Args: - pybullet_client: A BulletClient instance. - body_id: Integer. The unique body ID returned from loadURDF in pybullet. + pycram_bullet_client: A BulletClient instance. + body_id: Integer. The unique body ID returned from loadURDF in pycram_bullet. parent_link_id: Integer. The camera is rigidly attached to a body link specified by this ID. For example, camers may be mounted to the base or other moving parts of the robot. @@ -182,7 +182,7 @@ def __init__(self, egl_render: Whether to use EGL to render the images when the X11 windows are not present. """ - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._body_id = body_id self._parent_link_id = parent_link_id self._relative_translation = relative_translation @@ -201,7 +201,7 @@ def __init__(self, self._projection_mat = camera_intrinsics_to_projection_matrix( camera_intrinsics, width, height, near=self._near, far=self._far) else: - self._projection_mat = self._pybullet_client.computeProjectionMatrixFOV( + self._projection_mat = self._pycram_bullet_client.computeProjectionMatrixFOV( fov_degree, float(width) / float(height), self._near, self._far) @@ -220,27 +220,27 @@ def transform_point_cloud_from_camera_to_world_frame(self, point_cloud): """ if self._parent_link_id == -1: camera_link_pos, camera_link_ori = ( - self._pybullet_client.getBasePositionAndOrientation(self._body_id)) + self._pycram_bullet_client.getBasePositionAndOrientation(self._body_id)) else: - parent_link_state = self._pybullet_client.getLinkState( + parent_link_state = self._pycram_bullet_client.getLinkState( self._body_id, self._parent_link_id, computeForwardKinematics=True) camera_link_pos = parent_link_state[0] camera_link_ori = parent_link_state[1] camera_position_world, camera_orientation_world = ( - self._pybullet_client.multiplyTransforms(camera_link_pos, + self._pycram_bullet_client.multiplyTransforms(camera_link_pos, camera_link_ori, self._relative_translation, self._relative_rotation)) _, camera_space_to_world_orientation = ( - self._pybullet_client.multiplyTransforms([0, 0, 0], + self._pycram_bullet_client.multiplyTransforms([0, 0, 0], camera_orientation_world, [0, 0, 0], _CAMERA_Z_TO_WORLD_Z)) for i in range(point_cloud.shape[0]): for j in range(point_cloud.shape[1]): point_cloud[i, j, :] = ( - self._pybullet_client.multiplyTransforms( + self._pycram_bullet_client.multiplyTransforms( camera_position_world, camera_space_to_world_orientation, point_cloud[i, j, :], [0, 0, 0, 1])[0]) return point_cloud @@ -256,14 +256,14 @@ def transform_point_cloud_from_camera_to_robot_frame(self, point_cloud): The transformed point cloud in the robot frame. """ camera_space_to_robot_translation, camera_space_to_robot_orientation = ( - self._pybullet_client.multiplyTransforms(self._relative_translation, + self._pycram_bullet_client.multiplyTransforms(self._relative_translation, self._relative_rotation, [0, 0, 0], _CAMERA_Z_TO_WORLD_Z)) for i in range(point_cloud.shape[0]): for j in range(point_cloud.shape[1]): point_cloud[i, j, :] = ( - self._pybullet_client.multiplyTransforms( + self._pycram_bullet_client.multiplyTransforms( camera_space_to_robot_translation, camera_space_to_robot_orientation, point_cloud[i, j, :], [0, 0, 0, 1])[0]) @@ -278,22 +278,22 @@ def render_image(self): pos = [] ori = [] if self._parent_link_id == -1: - pos, ori = self._pybullet_client.getBasePositionAndOrientation( + pos, ori = self._pycram_bullet_client.getBasePositionAndOrientation( self._body_id) else: - parent_link_state = self._pybullet_client.getLinkState( + parent_link_state = self._pycram_bullet_client.getLinkState( self._body_id, self._parent_link_id, computeForwardKinematics=True) pos = parent_link_state[0] ori = parent_link_state[1] if self._stabilized: - [_, _, yaw] = self._pybullet_client.getEulerFromQuaternion(ori) - ori = self._pybullet_client.getQuaternionFromEuler([0, 0, yaw]) + [_, _, yaw] = self._pycram_bullet_client.getEulerFromQuaternion(ori) + ori = self._pycram_bullet_client.getQuaternionFromEuler([0, 0, yaw]) - transform = self._pybullet_client.multiplyTransforms( + transform = self._pycram_bullet_client.multiplyTransforms( pos, ori, self._relative_translation, self._relative_rotation) _, _, rgba, depth, _ = create_camera_image( - pybullet_client=self._pybullet_client, + pycram_bullet_client=self._pycram_bullet_client, camera_position=transform[0], camera_orientation=transform[1], resolution=self._resolution, diff --git a/examples/pycram_bullet/gym/pybullet_envs/prediction/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/prediction/__init__.py new file mode 100644 index 0000000000..9f721356a9 --- /dev/null +++ b/examples/pycram_bullet/gym/pybullet_envs/prediction/__init__.py @@ -0,0 +1,2 @@ +from . import boxstack_pycram_bullet_sim +from . import pycram_bullet_sim_gym_env diff --git a/examples/pybullet/gym/pybullet_envs/prediction/boxstack_pybullet_sim.py b/examples/pycram_bullet/gym/pybullet_envs/prediction/boxstack_pybullet_sim.py similarity index 72% rename from examples/pybullet/gym/pybullet_envs/prediction/boxstack_pybullet_sim.py rename to examples/pycram_bullet/gym/pybullet_envs/prediction/boxstack_pybullet_sim.py index 85e29cc603..1fb84dfe17 100644 --- a/examples/pybullet/gym/pybullet_envs/prediction/boxstack_pybullet_sim.py +++ b/examples/pycram_bullet/gym/pybullet_envs/prediction/boxstack_pybullet_sim.py @@ -1,11 +1,11 @@ -"""This file implements the functionalities of an example simulated system using pybullet. +"""This file implements the functionalities of an example simulated system using pycram_bullet. """ import copy import math import numpy as np import os -import pybullet_data +import pycram_bullet_data import random @@ -14,16 +14,16 @@ class BoxStackPyBulletSim(object): """ - def __init__(self, pybullet_client, urdf_root=pybullet_data.getDataPath(), time_step=0.01): + def __init__(self, pycram_bullet_client, urdf_root=pycram_bullet_data.getDataPath(), time_step=0.01): """Constructs an example simulation and reset it to the initial states. Args: - pybullet_client: The instance of BulletClient to manage different + pycram_bullet_client: The instance of BulletClient to manage different simulations. urdf_root: The path to the urdf folder. time_step: The time step of the simulation. """ - self._pybullet_client = pybullet_client + self._pycram_bullet_client = pycram_bullet_client self._urdf_root = urdf_root self.m_actions_taken_since_reset = 0 self.time_step = time_step @@ -43,20 +43,20 @@ def Reset(self, reload_urdf=False): boxHalfExtents = 0.025 if reload_urdf: - camInfo = self._pybullet_client.getDebugVisualizerCamera() + camInfo = self._pycram_bullet_client.getDebugVisualizerCamera() cameraDistance = camInfo[10] print("cameraYaw=", camInfo[8]) print("cameraPitch=", camInfo[9]) print("camtarget=", camInfo[11]) print("projectionMatrix=", camInfo[3]) - self._pybullet_client.resetDebugVisualizerCamera(cameraDistance=0.3, + self._pycram_bullet_client.resetDebugVisualizerCamera(cameraDistance=0.3, cameraYaw=camInfo[8], cameraPitch=camInfo[9], cameraTargetPosition=camInfo[11]) - plane = self._pybullet_client.loadURDF("plane.urdf") - texUid = self._pybullet_client.loadTexture("checker_blue.png") - self._pybullet_client.changeVisualShape(plane, -1, textureUniqueId=texUid) + plane = self._pycram_bullet_client.loadURDF("plane.urdf") + texUid = self._pycram_bullet_client.loadTexture("checker_blue.png") + self._pycram_bullet_client.changeVisualShape(plane, -1, textureUniqueId=texUid) self._numObjects = 4 #random number? @@ -70,17 +70,17 @@ def Reset(self, reload_urdf=False): for i in range(self._numObjects): pos = [0, 0, boxHalfExtents + i * 2 * boxHalfExtents] - orn = self._pybullet_client.getQuaternionFromEuler([0, 0, 0]) + orn = self._pycram_bullet_client.getQuaternionFromEuler([0, 0, 0]) orn = [0, 0, 0, 1] - cube = self._pybullet_client.loadURDF("cube_small.urdf", pos, orn) - self._pybullet_client.changeVisualShape(cube, -1, rgbaColor=colors[i]) + cube = self._pycram_bullet_client.loadURDF("cube_small.urdf", pos, orn) + self._pycram_bullet_client.changeVisualShape(cube, -1, rgbaColor=colors[i]) self._cubes.append(cube) - self._pybullet_client.setGravity(0, 0, -10) - self.stateId = self._pybullet_client.saveState() + self._pycram_bullet_client.setGravity(0, 0, -10) + self.stateId = self._pycram_bullet_client.saveState() else: if (self.stateId >= 0): - self._pybullet_client.restoreState(self.stateId) + self._pycram_bullet_client.restoreState(self.stateId) index = 0 for i in self._cubes: posX = random.uniform(-xPosRange, xPosRange) @@ -88,8 +88,8 @@ def Reset(self, reload_urdf=False): yaw = random.uniform(-math.pi, math.pi) pos = [posX, posY, boxHalfExtents + index * 2 * boxHalfExtents] index += 1 - orn = self._pybullet_client.getQuaternionFromEuler([0, 0, yaw]) - self._pybullet_client.resetBasePositionAndOrientation(i, pos, orn) + orn = self._pycram_bullet_client.getQuaternionFromEuler([0, 0, yaw]) + self._pycram_bullet_client.resetBasePositionAndOrientation(i, pos, orn) def GetActionDimension(self): """Get the length of the action list. @@ -132,7 +132,7 @@ def GetObservation(self): """ observation = [] for i in self._cubes: - pos, orn = self._pybullet_client.getBasePositionAndOrientation(i) + pos, orn = self._pycram_bullet_client.getBasePositionAndOrientation(i) observation.extend(list(pos)) observation.extend(list(orn)) return observation @@ -146,8 +146,8 @@ def Termination(self): return self.m_actions_taken_since_reset >= 200 -def CreateSim(pybullet_client, urdf_root, time_step): - sim = BoxStackPyBulletSim(pybullet_client=pybullet_client, +def CreateSim(pycram_bullet_client, urdf_root, time_step): + sim = BoxStackPyBulletSim(pycram_bullet_client=pycram_bullet_client, urdf_root=urdf_root, time_step=time_step) return sim diff --git a/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py similarity index 74% rename from examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py index 0d94520cc4..9def49dcb0 100644 --- a/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py @@ -13,26 +13,26 @@ from gym import spaces from gym.utils import seeding import numpy as np -import pybullet -from pybullet_utils import bullet_client as bc +import pycram_bullet +from pycram_bullet_utils import bullet_client as bc -from pybullet_envs.prediction import boxstack_pybullet_sim +from pycram_bullet_envs.prediction import boxstack_pycram_bullet_sim import os -import pybullet_data +import pycram_bullet_data from pkg_resources import parse_version class PyBulletSimGymEnv(gym.Env): - """The gym environment to run pybullet simulations. + """The gym environment to run pycram_bullet simulations. """ metadata = {"render.modes": ["human", "rgb_array"], "video.frames_per_second": 50} def __init__(self, - pybullet_sim_factory=boxstack_pybullet_sim, + pycram_bullet_sim_factory=boxstack_pycram_bullet_sim, render=True, render_sleep=False, debug_visualization=True, @@ -42,13 +42,13 @@ def __init__(self, action_repeat=1, time_step=1. / 240., num_bullet_solver_iterations=50, - urdf_root=pybullet_data.getDataPath()): + urdf_root=pycram_bullet_data.getDataPath()): """Initialize the gym environment. Args: urdf_root: The path to the urdf data folder. """ - self._pybullet_sim_factory = pybullet_sim_factory + self._pycram_bullet_sim_factory = pycram_bullet_sim_factory self._time_step = time_step self._urdf_root = urdf_root self._observation = [] @@ -71,22 +71,22 @@ def __init__(self, print("urdf_root=" + self._urdf_root) if self._is_render: - self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI, + self._pycram_bullet_client = bc.BulletClient(connection_mode=pycram_bullet.GUI, options=optionstring) else: - self._pybullet_client = bc.BulletClient() + self._pycram_bullet_client = bc.BulletClient() if (debug_visualization == False): - self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI, + self._pycram_bullet_client.configureDebugVisualizer(flag=self._pycram_bullet_client.COV_ENABLE_GUI, enable=0) - self._pybullet_client.configureDebugVisualizer( - flag=self._pybullet_client.COV_ENABLE_RGB_BUFFER_PREVIEW, enable=0) - self._pybullet_client.configureDebugVisualizer( - flag=self._pybullet_client.COV_ENABLE_DEPTH_BUFFER_PREVIEW, enable=0) - self._pybullet_client.configureDebugVisualizer( - flag=self._pybullet_client.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, enable=0) - - self._pybullet_client.setAdditionalSearchPath(urdf_root) + self._pycram_bullet_client.configureDebugVisualizer( + flag=self._pycram_bullet_client.COV_ENABLE_RGB_BUFFER_PREVIEW, enable=0) + self._pycram_bullet_client.configureDebugVisualizer( + flag=self._pycram_bullet_client.COV_ENABLE_DEPTH_BUFFER_PREVIEW, enable=0) + self._pycram_bullet_client.configureDebugVisualizer( + flag=self._pycram_bullet_client.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, enable=0) + + self._pycram_bullet_client.setAdditionalSearchPath(urdf_root) self.seed() self.reset() @@ -107,14 +107,14 @@ def configure(self, args): def reset(self): if self._hard_reset: - self._pybullet_client.resetSimulation() + self._pycram_bullet_client.resetSimulation() - self._pybullet_client.setPhysicsEngineParameter( + self._pycram_bullet_client.setPhysicsEngineParameter( numSolverIterations=int(self._num_bullet_solver_iterations)) - self._pybullet_client.setTimeStep(self._time_step) + self._pycram_bullet_client.setTimeStep(self._time_step) - self._example_sim = self._pybullet_sim_factory.CreateSim( - pybullet_client=self._pybullet_client, + self._example_sim = self._pycram_bullet_sim_factory.CreateSim( + pycram_bullet_client=self._pycram_bullet_client, urdf_root=self._urdf_root, time_step=self._time_step) else: @@ -122,7 +122,7 @@ def reset(self): self._env_step_counter = 0 - #self._pybullet_client.resetDebugVisualizerCamera( + #self._pycram_bullet_client.resetDebugVisualizerCamera( # self._cam_dist, self._cam_yaw, self._cam_pitch, [0, 0, 0]) return self._get_observation() @@ -157,12 +157,12 @@ def step(self, action): time.sleep(time_to_sleep) #base_pos = self.minitaur.GetBasePosition() - #self._pybullet_client.resetDebugVisualizerCamera( + #self._pycram_bullet_client.resetDebugVisualizerCamera( # self._cam_dist, self._cam_yaw, self._cam_pitch, base_pos) for _ in range(self._action_repeat): self._example_sim.ApplyAction(action) - self._pybullet_client.stepSimulation() + self._pycram_bullet_client.stepSimulation() self._env_step_counter += 1 reward = self._reward() @@ -173,25 +173,25 @@ def render(self, mode="rgb_array", close=False): if mode != "rgb_array": return np.array([]) base_pos = [0, 0, 0] - view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll( + view_matrix = self._pycram_bullet_client.computeViewMatrixFromYawPitchRoll( cameraTargetPosition=base_pos, distance=self._cam_dist, yaw=self._cam_yaw, pitch=self._cam_pitch, roll=0, upAxisIndex=2) - proj_matrix = self._pybullet_client.computeProjectionMatrixFOV( + proj_matrix = self._pycram_bullet_client.computeProjectionMatrixFOV( fov=60, aspect=float(self._render_width) / self._render_width, nearVal=0.01, farVal=100.0) proj_matrix = [ 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0 ] - (_, _, px, _, _) = self._pybullet_client.getCameraImage( + (_, _, px, _, _) = self._pycram_bullet_client.getCameraImage( width=self._render_width, height=self._render_height, viewMatrix=view_matrix, projectionMatrix=proj_matrix, - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) #ER_TINY_RENDERER) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) #ER_TINY_RENDERER) rgb_array = np.array(px, dtype=np.uint8) rgb_array = np.reshape(rgb_array, (self._render_height, self._render_width, 4)) rgb_array = rgb_array[:, :, :3] diff --git a/examples/pybullet/gym/pybullet_envs/prediction/test_pybullet_sim_gym_env.py b/examples/pycram_bullet/gym/pybullet_envs/prediction/test_pybullet_sim_gym_env.py similarity index 86% rename from examples/pybullet/gym/pybullet_envs/prediction/test_pybullet_sim_gym_env.py rename to examples/pycram_bullet/gym/pybullet_envs/prediction/test_pybullet_sim_gym_env.py index ae24b3a9d5..4b80f4d62c 100644 --- a/examples/pybullet/gym/pybullet_envs/prediction/test_pybullet_sim_gym_env.py +++ b/examples/pycram_bullet/gym/pybullet_envs/prediction/test_pybullet_sim_gym_env.py @@ -9,18 +9,18 @@ import math import numpy as np -from pybullet_envs.prediction import pybullet_sim_gym_env +from pycram_bullet_envs.prediction import pycram_bullet_sim_gym_env import argparse import time -from pybullet_envs.prediction import boxstack_pybullet_sim +from pycram_bullet_envs.prediction import boxstack_pycram_bullet_sim from gym.wrappers.monitoring import video_recorder def ResetPoseExample(steps): """An example that the minitaur stands still using the reset pose.""" - environment = pybullet_sim_gym_env.PyBulletSimGymEnv(pybullet_sim_factory=boxstack_pybullet_sim, + environment = pycram_bullet_sim_gym_env.PyBulletSimGymEnv(pycram_bullet_sim_factory=boxstack_pycram_bullet_sim, debug_visualization=False, render=True, action_repeat=30) diff --git a/examples/pybullet/gym/pybullet_envs/robot_bases.py b/examples/pycram_bullet/gym/pybullet_envs/robot_bases.py similarity index 90% rename from examples/pybullet/gym/pybullet_envs/robot_bases.py rename to examples/pycram_bullet/gym/pybullet_envs/robot_bases.py index 951470ac39..c6924ce035 100644 --- a/examples/pybullet/gym/pybullet_envs/robot_bases.py +++ b/examples/pycram_bullet/gym/pybullet_envs/robot_bases.py @@ -1,11 +1,11 @@ -import pybullet +import pycram_bullet import gym, gym.spaces, gym.utils import numpy as np import os, inspect currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) parentdir = os.path.dirname(currentdir) os.sys.path.insert(0, parentdir) -import pybullet_data +import pycram_bullet_data class XmlBasedRobot: @@ -62,7 +62,7 @@ def addToScene(self, bullet_client, bodies): for j in range(self._p.getNumJoints(bodies[i])): self._p.setJointMotorControl2(bodies[i], j, - pybullet.POSITION_CONTROL, + pycram_bullet.POSITION_CONTROL, positionGain=0.1, velocityGain=0.1, force=0) @@ -127,16 +127,16 @@ def reset(self, bullet_client): self.ordered_joints = [] self.doneLoading = 1 if self.self_collision: - self.objects = self._p.loadMJCF(os.path.join(pybullet_data.getDataPath(), "mjcf", + self.objects = self._p.loadMJCF(os.path.join(pycram_bullet_data.getDataPath(), "mjcf", self.model_xml), - flags=pybullet.URDF_USE_SELF_COLLISION | - pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS | - pybullet.URDF_GOOGLEY_UNDEFINED_COLORS ) + flags=pycram_bullet.URDF_USE_SELF_COLLISION | + pycram_bullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS | + pycram_bullet.URDF_GOOGLEY_UNDEFINED_COLORS ) self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene( self._p, self.objects) else: self.objects = self._p.loadMJCF( - os.path.join(pybullet_data.getDataPath(), "mjcf", self.model_xml, flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS)) + os.path.join(pycram_bullet_data.getDataPath(), "mjcf", self.model_xml, flags = pycram_bullet.URDF_GOOGLEY_UNDEFINED_COLORS)) self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene( self._p, self.objects) self.robot_specific_reset(self._p) @@ -180,18 +180,18 @@ def reset(self, bullet_client): if self.self_collision: self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene( self._p, - self._p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf), + self._p.loadURDF(os.path.join(pycram_bullet_data.getDataPath(), self.model_urdf), basePosition=self.basePosition, baseOrientation=self.baseOrientation, useFixedBase=self.fixed_base, - flags=pybullet.URDF_USE_SELF_COLLISION | pybullet.URDF_GOOGLEY_UNDEFINED_COLORS)) + flags=pycram_bullet.URDF_USE_SELF_COLLISION | pycram_bullet.URDF_GOOGLEY_UNDEFINED_COLORS)) else: self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene( self._p, - self._p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf), + self._p.loadURDF(os.path.join(pycram_bullet_data.getDataPath(), self.model_urdf), basePosition=self.basePosition, baseOrientation=self.baseOrientation, - useFixedBase=self.fixed_base, flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS)) + useFixedBase=self.fixed_base, flags = pycram_bullet.URDF_GOOGLEY_UNDEFINED_COLORS)) self.robot_specific_reset(self._p) @@ -254,7 +254,7 @@ def xyz(self): return self.body_part.current_position() def rpy(self): - return pybullet.getEulerFromQuaternion(self.body_part.current_orientation()) + return pycram_bullet.getEulerFromQuaternion(self.body_part.current_orientation()) def orientation(self): return self.body_part.current_orientation() @@ -369,13 +369,13 @@ def get_velocity(self): def set_position(self, position): self._p.setJointMotorControl2(self.bodies[self.bodyIndex], self.jointIndex, - pybullet.POSITION_CONTROL, + pycram_bullet.POSITION_CONTROL, targetPosition=position) def set_velocity(self, velocity): self._p.setJointMotorControl2(self.bodies[self.bodyIndex], self.jointIndex, - pybullet.VELOCITY_CONTROL, + pycram_bullet.VELOCITY_CONTROL, targetVelocity=velocity) def set_motor_torque(self, torque): # just some synonyme method @@ -384,7 +384,7 @@ def set_motor_torque(self, torque): # just some synonyme method def set_torque(self, torque): self._p.setJointMotorControl2(bodyIndex=self.bodies[self.bodyIndex], jointIndex=self.jointIndex, - controlMode=pybullet.TORQUE_CONTROL, + controlMode=pycram_bullet.TORQUE_CONTROL, force=torque) #, positionGain=0.1, velocityGain=0.1) def reset_current_position(self, position, velocity): # just some synonyme method @@ -400,7 +400,7 @@ def reset_position(self, position, velocity): def disable_motor(self): self._p.setJointMotorControl2(self.bodies[self.bodyIndex], self.jointIndex, - controlMode=pybullet.POSITION_CONTROL, + controlMode=pycram_bullet.POSITION_CONTROL, targetPosition=0, targetVelocity=0, positionGain=0.1, diff --git a/examples/pybullet/gym/pybullet_envs/robot_locomotors.py b/examples/pycram_bullet/gym/pybullet_envs/robot_locomotors.py similarity index 98% rename from examples/pybullet/gym/pybullet_envs/robot_locomotors.py rename to examples/pycram_bullet/gym/pybullet_envs/robot_locomotors.py index 993aaa42cd..6fb6310887 100644 --- a/examples/pybullet/gym/pybullet_envs/robot_locomotors.py +++ b/examples/pycram_bullet/gym/pybullet_envs/robot_locomotors.py @@ -1,8 +1,8 @@ from robot_bases import XmlBasedRobot, MJCFBasedRobot, URDFBasedRobot import numpy as np -import pybullet +import pycram_bullet import os -import pybullet_data +import pycram_bullet_data from robot_bases import BodyPart @@ -209,7 +209,7 @@ def alive_bonus(self, z, pitch): def get_cube(_p, x, y, z): - body = _p.loadURDF(os.path.join(pybullet_data.getDataPath(), "cube_small.urdf"), [x, y, z]) + body = _p.loadURDF(os.path.join(pycram_bullet_data.getDataPath(), "cube_small.urdf"), [x, y, z]) _p.changeDynamics(body, -1, mass=1.2) #match Roboschool part_name, _ = _p.getBodyInfo(body) part_name = part_name.decode("utf8") @@ -218,7 +218,7 @@ def get_cube(_p, x, y, z): def get_sphere(_p, x, y, z): - body = _p.loadURDF(os.path.join(pybullet_data.getDataPath(), "sphere2red_nocol.urdf"), [x, y, z]) + body = _p.loadURDF(os.path.join(pycram_bullet_data.getDataPath(), "sphere2red_nocol.urdf"), [x, y, z]) part_name, _ = _p.getBodyInfo(body) part_name = part_name.decode("utf8") bodies = [body] diff --git a/examples/pybullet/gym/pybullet_envs/robot_manipulators.py b/examples/pycram_bullet/gym/pybullet_envs/robot_manipulators.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/robot_manipulators.py rename to examples/pycram_bullet/gym/pybullet_envs/robot_manipulators.py diff --git a/examples/pybullet/gym/pybullet_envs/robot_pendula.py b/examples/pycram_bullet/gym/pybullet_envs/robot_pendula.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/robot_pendula.py rename to examples/pycram_bullet/gym/pybullet_envs/robot_pendula.py diff --git a/examples/pybullet/gym/pybullet_envs/scene_abstract.py b/examples/pycram_bullet/gym/pybullet_envs/scene_abstract.py similarity index 99% rename from examples/pybullet/gym/pybullet_envs/scene_abstract.py rename to examples/pycram_bullet/gym/pybullet_envs/scene_abstract.py index f4bbfae0c9..b8775bda09 100644 --- a/examples/pybullet/gym/pybullet_envs/scene_abstract.py +++ b/examples/pycram_bullet/gym/pybullet_envs/scene_abstract.py @@ -1,6 +1,6 @@ import sys, os sys.path.append(os.path.dirname(__file__)) -import pybullet +import pycram_bullet import gym diff --git a/examples/pybullet/gym/pybullet_envs/scene_stadium.py b/examples/pycram_bullet/gym/pybullet_envs/scene_stadium.py similarity index 83% rename from examples/pybullet/gym/pybullet_envs/scene_stadium.py rename to examples/pycram_bullet/gym/pybullet_envs/scene_stadium.py index 388215f62f..b28edb7bc0 100644 --- a/examples/pybullet/gym/pybullet_envs/scene_stadium.py +++ b/examples/pycram_bullet/gym/pybullet_envs/scene_stadium.py @@ -2,10 +2,10 @@ currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) parentdir = os.path.dirname(currentdir) os.sys.path.insert(0, parentdir) -import pybullet_data +import pycram_bullet_data -from pybullet_envs.scene_abstract import Scene -import pybullet +from pycram_bullet_envs.scene_abstract import Scene +import pycram_bullet class StadiumScene(Scene): @@ -24,15 +24,15 @@ def episode_restart(self, bullet_client): # if self.zero_at_running_strip_start_line: # stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants - filename = os.path.join(pybullet_data.getDataPath(), "plane_stadium.sdf") + filename = os.path.join(pycram_bullet_data.getDataPath(), "plane_stadium.sdf") self.ground_plane_mjcf = self._p.loadSDF(filename) - #filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf") + #filename = os.path.join(pycram_bullet_data.getDataPath(),"stadium_no_collision.sdf") #self.ground_plane_mjcf = self._p.loadSDF(filename) # for i in self.ground_plane_mjcf: self._p.changeDynamics(i, -1, lateralFriction=0.8, restitution=0.5) self._p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 0.8]) - self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION,i) + self._p.configureDebugVisualizer(pycram_bullet.COV_ENABLE_PLANAR_REFLECTION,i) # for j in range(p.getNumJoints(i)): # self._p.changeDynamics(i,j,lateralFriction=0) diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/__init__.py b/examples/pycram_bullet/gym/pybullet_envs/stable_baselines/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/stable_baselines/__init__.py rename to examples/pycram_bullet/gym/pybullet_envs/stable_baselines/__init__.py diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py b/examples/pycram_bullet/gym/pybullet_envs/stable_baselines/enjoy.py similarity index 93% rename from examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py rename to examples/pycram_bullet/gym/pybullet_envs/stable_baselines/enjoy.py index d33daabe01..3e51d4b479 100644 --- a/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py +++ b/examples/pycram_bullet/gym/pybullet_envs/stable_baselines/enjoy.py @@ -1,7 +1,7 @@ # Code adapted from https://github.com/DLR-RM/rl-baselines3-zoo # it requires stable-baselines3 to be installed -# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pybullet.ipynb -# You can run it using: python -m pybullet_envs.stable_baselines.enjoy --algo td3 --env HalfCheetahBulletEnv-v0 +# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pycram_bullet.ipynb +# You can run it using: python -m pycram_bullet_envs.stable_baselines.enjoy --algo td3 --env HalfCheetahBulletEnv-v0 # Author: Antonin RAFFIN # MIT License import os @@ -10,7 +10,7 @@ import gym import numpy as np -import pybullet_envs +import pycram_bullet_envs from stable_baselines3 import SAC, TD3 diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py b/examples/pycram_bullet/gym/pybullet_envs/stable_baselines/train.py similarity index 92% rename from examples/pybullet/gym/pybullet_envs/stable_baselines/train.py rename to examples/pycram_bullet/gym/pybullet_envs/stable_baselines/train.py index 1eacc59b4c..c9a1378a34 100644 --- a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py +++ b/examples/pycram_bullet/gym/pybullet_envs/stable_baselines/train.py @@ -1,12 +1,12 @@ # Code adapted from https://github.com/DLR-RM/rl-baselines3-zoo # it requires stable-baselines3 to be installed -# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pybullet.ipynb -# You can run it using: python -m pybullet_envs.stable_baselines.train --algo td3 --env HalfCheetahBulletEnv-v0 +# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pycram_bullet.ipynb +# You can run it using: python -m pycram_bullet_envs.stable_baselines.train --algo td3 --env HalfCheetahBulletEnv-v0 # Author: Antonin RAFFIN # MIT License import argparse -import pybullet_envs # register pybullet envs +import pycram_bullet_envs # register pycram_bullet envs import gym import numpy as np diff --git a/examples/pybullet/gym/pybullet_examples/__init__.py b/examples/pycram_bullet/gym/pybullet_examples/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_examples/__init__.py rename to examples/pycram_bullet/gym/pybullet_examples/__init__.py diff --git a/examples/pybullet/gym/pybullet_examples/biped2d_pybullet.py b/examples/pycram_bullet/gym/pybullet_examples/biped2d_pybullet.py similarity index 80% rename from examples/pybullet/gym/pybullet_examples/biped2d_pybullet.py rename to examples/pycram_bullet/gym/pybullet_examples/biped2d_pybullet.py index 7ddf7b976c..4101eb15b3 100644 --- a/examples/pybullet/gym/pybullet_examples/biped2d_pybullet.py +++ b/examples/pycram_bullet/gym/pybullet_examples/biped2d_pybullet.py @@ -1,14 +1,14 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data import os import time GRAVITY = -9.8 dt = 1e-3 iters = 2000 -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation() #p.setRealTimeSimulation(True) p.setGravity(0, 0, GRAVITY) @@ -16,7 +16,7 @@ planeId = p.loadURDF("plane.urdf") cubeStartPos = [0, 0, 1.13] cubeStartOrientation = p.getQuaternionFromEuler([0., 0, 0]) -botId = p.loadURDF("biped/biped2d_pybullet.urdf", cubeStartPos, cubeStartOrientation) +botId = p.loadURDF("biped/biped2d_pycram_bullet.urdf", cubeStartPos, cubeStartOrientation) #disable the default velocity motors #and set some position control with small force to emulate joint friction/return to a rest pose diff --git a/examples/pybullet/gym/pybullet_examples/collisionFilter.py b/examples/pycram_bullet/gym/pybullet_examples/collisionFilter.py similarity index 82% rename from examples/pybullet/gym/pybullet_examples/collisionFilter.py rename to examples/pycram_bullet/gym/pybullet_examples/collisionFilter.py index 13abacee98..a349a320c8 100644 --- a/examples/pybullet/gym/pybullet_examples/collisionFilter.py +++ b/examples/pycram_bullet/gym/pybullet_examples/collisionFilter.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) planeId = p.loadURDF("plane.urdf", useMaximalCoordinates=False) cubeId = p.loadURDF("cube_collisionfilter.urdf", [0, 0, 3], useMaximalCoordinates=False) diff --git a/examples/pybullet/examples/constraint.py b/examples/pycram_bullet/gym/pybullet_examples/constraint.py similarity index 84% rename from examples/pybullet/examples/constraint.py rename to examples/pycram_bullet/gym/pybullet_examples/constraint.py index 60b883a5cb..1009e02396 100644 --- a/examples/pybullet/examples/constraint.py +++ b/examples/pycram_bullet/gym/pybullet_examples/constraint.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") cubeId = p.loadURDF("cube_small.urdf", 0, 0, 1) diff --git a/examples/pybullet/examples/createMultiBodyBatch.py b/examples/pycram_bullet/gym/pybullet_examples/createMultiBodyBatch.py similarity index 97% rename from examples/pybullet/examples/createMultiBodyBatch.py rename to examples/pycram_bullet/gym/pybullet_examples/createMultiBodyBatch.py index 87fde9c840..2f79bc180c 100644 --- a/examples/pybullet/examples/createMultiBodyBatch.py +++ b/examples/pycram_bullet/gym/pybullet_examples/createMultiBodyBatch.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=16000") -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=4, minimumSolverIslandSize=1024) p.setTimeStep(1. / 120.) diff --git a/examples/pybullet/gym/pybullet_examples/createObstacleCourse.py b/examples/pycram_bullet/gym/pybullet_examples/createObstacleCourse.py similarity index 97% rename from examples/pybullet/gym/pybullet_examples/createObstacleCourse.py rename to examples/pycram_bullet/gym/pybullet_examples/createObstacleCourse.py index a9ab11908a..468afeeac3 100644 --- a/examples/pybullet/gym/pybullet_examples/createObstacleCourse.py +++ b/examples/pycram_bullet/gym/pybullet_examples/createObstacleCourse.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #don't create a ground plane, to allow for gaps etc p.resetSimulation() #p.createCollisionShape(p.GEOM_PLANE) diff --git a/examples/pybullet/gym/pybullet_examples/createVisualShapeArray.py b/examples/pycram_bullet/gym/pybullet_examples/createVisualShapeArray.py similarity index 97% rename from examples/pybullet/gym/pybullet_examples/createVisualShapeArray.py rename to examples/pycram_bullet/gym/pybullet_examples/createVisualShapeArray.py index 6156d808c8..708e2e5d18 100644 --- a/examples/pybullet/gym/pybullet_examples/createVisualShapeArray.py +++ b/examples/pycram_bullet/gym/pybullet_examples/createVisualShapeArray.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import time import math -import pybullet_data +import pycram_bullet_data def getRayFromTo(mouseX, mouseY): @@ -37,7 +37,7 @@ def getRayFromTo(mouseX, mouseY): if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=10) p.setTimeStep(1. / 120.) logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json") diff --git a/examples/pybullet/gym/pybullet_examples/deformable_anchor.py b/examples/pycram_bullet/gym/pybullet_examples/deformable_anchor.py similarity index 93% rename from examples/pybullet/gym/pybullet_examples/deformable_anchor.py rename to examples/pycram_bullet/gym/pybullet_examples/deformable_anchor.py index bf37cdb61d..8e148d4dbc 100644 --- a/examples/pybullet/gym/pybullet_examples/deformable_anchor.py +++ b/examples/pycram_bullet/gym/pybullet_examples/deformable_anchor.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p from time import sleep physicsClient = p.connect(p.GUI) -import pybullet_data +import pycram_bullet_data -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) gravZ=-10 diff --git a/examples/pybullet/gym/pybullet_examples/deformable_torus.py b/examples/pycram_bullet/gym/pybullet_examples/deformable_torus.py similarity index 90% rename from examples/pybullet/gym/pybullet_examples/deformable_torus.py rename to examples/pycram_bullet/gym/pybullet_examples/deformable_torus.py index b8d7cb052a..670604aee1 100644 --- a/examples/pybullet/gym/pybullet_examples/deformable_torus.py +++ b/examples/pycram_bullet/gym/pybullet_examples/deformable_torus.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p from time import sleep -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) p.resetDebugVisualizerCamera(3,-420,-30,[0.3,0.9,-2]) diff --git a/examples/pybullet/examples/experimentalCcdSphereRadius.py b/examples/pycram_bullet/gym/pybullet_examples/experimentalCcdSphereRadius.py similarity index 94% rename from examples/pybullet/examples/experimentalCcdSphereRadius.py rename to examples/pycram_bullet/gym/pybullet_examples/experimentalCcdSphereRadius.py index ca7dd664ad..497c443426 100644 --- a/examples/pybullet/examples/experimentalCcdSphereRadius.py +++ b/examples/pycram_bullet/gym/pybullet_examples/experimentalCcdSphereRadius.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(allowedCcdPenetration=0.0) terrain_mass = 0 diff --git a/examples/pybullet/gym/pybullet_examples/fileIOPlugin.py b/examples/pycram_bullet/gym/pybullet_examples/fileIOPlugin.py similarity index 68% rename from examples/pybullet/gym/pybullet_examples/fileIOPlugin.py rename to examples/pycram_bullet/gym/pybullet_examples/fileIOPlugin.py index 07f906ec00..f973920aac 100644 --- a/examples/pybullet/gym/pybullet_examples/fileIOPlugin.py +++ b/examples/pycram_bullet/gym/pybullet_examples/fileIOPlugin.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) fileIO = p.loadPlugin("fileIOPlugin") if (fileIO >= 0): #we can have a zipfile (pickup.zip) inside a zipfile (pickup2.zip) - p.executePluginCommand(fileIO, pybullet_data.getDataPath()+"/pickup2.zip", [p.AddFileIOAction, p.ZipFileIO]) + p.executePluginCommand(fileIO, pycram_bullet_data.getDataPath()+"/pickup2.zip", [p.AddFileIOAction, p.ZipFileIO]) p.executePluginCommand(fileIO, "pickup.zip", [p.AddFileIOAction, p.ZipFileIO]) objs = p.loadSDF("pickup/model.sdf") dobot = objs[0] diff --git a/examples/pybullet/examples/getClosestPoints.py b/examples/pycram_bullet/gym/pybullet_examples/getClosestPoints.py similarity index 95% rename from examples/pybullet/examples/getClosestPoints.py rename to examples/pycram_bullet/gym/pybullet_examples/getClosestPoints.py index 55311f58d0..b0860d9cd2 100644 --- a/examples/pybullet/examples/getClosestPoints.py +++ b/examples/pycram_bullet/gym/pybullet_examples/getClosestPoints.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) useCollisionShapeQuery = True p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0) geom = p.createCollisionShape(p.GEOM_SPHERE, radius=0.1) diff --git a/examples/pybullet/examples/getTextureUid.py b/examples/pycram_bullet/gym/pybullet_examples/getTextureUid.py similarity index 80% rename from examples/pybullet/examples/getTextureUid.py rename to examples/pycram_bullet/gym/pybullet_examples/getTextureUid.py index f4a31b2f07..c461b39a99 100644 --- a/examples/pybullet/examples/getTextureUid.py +++ b/examples/pycram_bullet/gym/pybullet_examples/getTextureUid.py @@ -1,8 +1,8 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) plane = p.loadURDF("plane.urdf") visualData = p.getVisualShapeData(plane, p.VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS) print(visualData) diff --git a/examples/pybullet/examples/heightfield.py b/examples/pycram_bullet/gym/pybullet_examples/heightfield.py similarity index 99% rename from examples/pybullet/examples/heightfield.py rename to examples/pycram_bullet/gym/pybullet_examples/heightfield.py index b01a5e0bb6..5b22d84147 100644 --- a/examples/pybullet/examples/heightfield.py +++ b/examples/pycram_bullet/gym/pybullet_examples/heightfield.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import math import time diff --git a/examples/pybullet/gym/pybullet_examples/humanoidMotionCapture.py b/examples/pycram_bullet/gym/pybullet_examples/humanoidMotionCapture.py similarity index 97% rename from examples/pybullet/gym/pybullet_examples/humanoidMotionCapture.py rename to examples/pycram_bullet/gym/pybullet_examples/humanoidMotionCapture.py index fdc1675e1d..684b960b14 100644 --- a/examples/pybullet/gym/pybullet_examples/humanoidMotionCapture.py +++ b/examples/pycram_bullet/gym/pybullet_examples/humanoidMotionCapture.py @@ -1,7 +1,7 @@ -import pybullet as p +import pycram_bullet as p import json import time -import pybullet_data +import pycram_bullet_data useGUI = True @@ -9,7 +9,7 @@ p.connect(p.GUI) else: p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) useZUp = False useYUp = not useZUp @@ -18,8 +18,8 @@ if useYUp: p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP, 1) -from pybullet_examples.pdControllerExplicit import PDControllerExplicitMultiDof -from pybullet_examples.pdControllerStable import PDControllerStableMultiDof +from pycram_bullet_examples.pdControllerExplicit import PDControllerExplicitMultiDof +from pycram_bullet_examples.pdControllerStable import PDControllerStableMultiDof explicitPD = PDControllerExplicitMultiDof(p) stablePD = PDControllerStableMultiDof(p) @@ -29,13 +29,13 @@ cameraPitch=-14, cameraTargetPosition=[0.24, -0.02, -0.09]) -import pybullet_data +import pycram_bullet_data p.setTimeOut(10000) useMotionCapture = False useMotionCaptureReset = False #not useMotionCapture useExplicitPD = True -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=30) #p.setPhysicsEngineParameter(solverResidualThreshold=1e-30) @@ -45,9 +45,9 @@ p.setPhysicsEngineParameter(fixedTimeStep=timeStep) -path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt" -#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt" -#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt" +path = pycram_bullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt" +#path = pycram_bullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt" +#path = pycram_bullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt" #p.loadURDF("plane.urdf",[0,0,-1.03]) print("path = ", path) diff --git a/examples/pybullet/gym/pybullet_examples/inverse_dynamics.py b/examples/pycram_bullet/gym/pybullet_examples/inverse_dynamics.py similarity index 98% rename from examples/pybullet/gym/pybullet_examples/inverse_dynamics.py rename to examples/pycram_bullet/gym/pybullet_examples/inverse_dynamics.py index 5ec99aef8b..f55479abd8 100644 --- a/examples/pybullet/gym/pybullet_examples/inverse_dynamics.py +++ b/examples/pycram_bullet/gym/pybullet_examples/inverse_dynamics.py @@ -1,5 +1,5 @@ -import pybullet as bullet -import pybullet_data as pd +import pycram_bullet as bullet +import pycram_bullet_data as pd plot = True import time diff --git a/examples/pybullet/examples/inverse_kinematics.py b/examples/pycram_bullet/gym/pybullet_examples/inverse_kinematics.py similarity index 97% rename from examples/pybullet/examples/inverse_kinematics.py rename to examples/pycram_bullet/gym/pybullet_examples/inverse_kinematics.py index bf198ff32b..cad89b40eb 100644 --- a/examples/pybullet/examples/inverse_kinematics.py +++ b/examples/pycram_bullet/gym/pybullet_examples/inverse_kinematics.py @@ -1,15 +1,15 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime -import pybullet_data +import pycram_bullet_data clid = p.connect(p.SHARED_MEMORY) if (clid < 0): p.connect(p.GUI) #p.connect(p.SHARED_MEMORY_GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -0.3]) kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0]) diff --git a/examples/pybullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py b/examples/pycram_bullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py similarity index 98% rename from examples/pybullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py rename to examples/pycram_bullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py index bb0e26eaaf..e3ebeca8a5 100644 --- a/examples/pybullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py +++ b/examples/pycram_bullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime from datetime import datetime -import pybullet_data +import pycram_bullet_data clid = p.connect(p.SHARED_MEMORY) @@ -13,7 +13,7 @@ p.setPhysicsEngineParameter(enableConeFriction=0) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -0.3]) diff --git a/examples/pybullet/gym/pybullet_examples/inverse_kinematics_pole.py b/examples/pycram_bullet/gym/pybullet_examples/inverse_kinematics_pole.py similarity index 94% rename from examples/pybullet/gym/pybullet_examples/inverse_kinematics_pole.py rename to examples/pycram_bullet/gym/pybullet_examples/inverse_kinematics_pole.py index 653581a0e5..21b8dacdab 100644 --- a/examples/pybullet/gym/pybullet_examples/inverse_kinematics_pole.py +++ b/examples/pycram_bullet/gym/pybullet_examples/inverse_kinematics_pole.py @@ -1,14 +1,14 @@ -import pybullet as p +import pycram_bullet as p import time import math from datetime import datetime -import pybullet_data +import pycram_bullet_data clid = p.connect(p.SHARED_MEMORY) if (clid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", [0, 0, -1.3]) p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0) sawyerId = p.loadURDF("pole.urdf", [0, 0, 0]) diff --git a/examples/pybullet/examples/jacobian.py b/examples/pycram_bullet/gym/pybullet_examples/jacobian.py similarity index 97% rename from examples/pybullet/examples/jacobian.py rename to examples/pycram_bullet/gym/pybullet_examples/jacobian.py index 4a7e9725cb..8717554630 100644 --- a/examples/pybullet/examples/jacobian.py +++ b/examples/pycram_bullet/gym/pybullet_examples/jacobian.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data +import pycram_bullet as p +import pycram_bullet_data @@ -53,7 +53,7 @@ def multiplyJacobian(robot, jacobian, vector): if (clid < 0): p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) time_step = 0.001 gravity_constant = -9.81 diff --git a/examples/pybullet/gym/pybullet_examples/manyspheres.py b/examples/pycram_bullet/gym/pybullet_examples/manyspheres.py similarity index 90% rename from examples/pybullet/gym/pybullet_examples/manyspheres.py rename to examples/pycram_bullet/gym/pybullet_examples/manyspheres.py index 4c6e5197ca..73baa31ade 100644 --- a/examples/pybullet/gym/pybullet_examples/manyspheres.py +++ b/examples/pycram_bullet/gym/pybullet_examples/manyspheres.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data conid = p.connect(p.SHARED_MEMORY) if (conid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setInternalSimFlags(0) p.resetSimulation() diff --git a/examples/pybullet/gym/pybullet_examples/mimicJointConstraint.py b/examples/pycram_bullet/gym/pybullet_examples/mimicJointConstraint.py similarity index 93% rename from examples/pybullet/gym/pybullet_examples/mimicJointConstraint.py rename to examples/pycram_bullet/gym/pybullet_examples/mimicJointConstraint.py index 7a54f5c10f..6d299368fb 100644 --- a/examples/pybullet/gym/pybullet_examples/mimicJointConstraint.py +++ b/examples/pycram_bullet/gym/pybullet_examples/mimicJointConstraint.py @@ -1,12 +1,12 @@ #a mimic joint can act as a gear between two joints #you can control the gear ratio in magnitude and sign (>0 reverses direction) -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf", 0, 0, -2) wheelA = p.loadURDF("differential/diff_ring.urdf", [0, 0, 0]) for i in range(p.getNumJoints(wheelA)): diff --git a/examples/pybullet/examples/motorMaxVelocity.py b/examples/pycram_bullet/gym/pybullet_examples/motorMaxVelocity.py similarity index 83% rename from examples/pybullet/examples/motorMaxVelocity.py rename to examples/pycram_bullet/gym/pybullet_examples/motorMaxVelocity.py index 95a0c1e39e..0ed24e9160 100644 --- a/examples/pybullet/examples/motorMaxVelocity.py +++ b/examples/pycram_bullet/gym/pybullet_examples/motorMaxVelocity.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) cartpole = p.loadURDF("cartpole.urdf") p.setRealTimeSimulation(1) p.setJointMotorControl2(cartpole, diff --git a/examples/pybullet/examples/pdControl.py b/examples/pycram_bullet/gym/pybullet_examples/pdControl.py similarity index 98% rename from examples/pybullet/examples/pdControl.py rename to examples/pycram_bullet/gym/pybullet_examples/pdControl.py index e9c902e230..c2f8bf46d2 100644 --- a/examples/pybullet/examples/pdControl.py +++ b/examples/pycram_bullet/gym/pybullet_examples/pdControl.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p from pdControllerExplicit import PDControllerExplicitMultiDof from pdControllerExplicit import PDControllerExplicit from pdControllerStable import PDControllerStable @@ -6,10 +6,10 @@ import time useMaximalCoordinates = False -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) pole = p.loadURDF("cartpole.urdf", [0, 0, 0], useMaximalCoordinates=useMaximalCoordinates) pole2 = p.loadURDF("cartpole.urdf", [0, 1, 0], useMaximalCoordinates=useMaximalCoordinates) pole3 = p.loadURDF("cartpole.urdf", [0, 2, 0], useMaximalCoordinates=useMaximalCoordinates) diff --git a/examples/pybullet/gym/pybullet_examples/pdControllerExplicit.py b/examples/pycram_bullet/gym/pybullet_examples/pdControllerExplicit.py similarity index 100% rename from examples/pybullet/gym/pybullet_examples/pdControllerExplicit.py rename to examples/pycram_bullet/gym/pybullet_examples/pdControllerExplicit.py diff --git a/examples/pybullet/gym/pybullet_examples/pdControllerStable.py b/examples/pycram_bullet/gym/pybullet_examples/pdControllerStable.py similarity index 100% rename from examples/pybullet/gym/pybullet_examples/pdControllerStable.py rename to examples/pycram_bullet/gym/pybullet_examples/pdControllerStable.py diff --git a/examples/pybullet/gym/pybullet_examples/pointCloudFromCameraImage.py b/examples/pycram_bullet/gym/pybullet_examples/pointCloudFromCameraImage.py similarity index 97% rename from examples/pybullet/gym/pybullet_examples/pointCloudFromCameraImage.py rename to examples/pycram_bullet/gym/pybullet_examples/pointCloudFromCameraImage.py index 65d88149c1..29808fe32d 100644 --- a/examples/pybullet/gym/pybullet_examples/pointCloudFromCameraImage.py +++ b/examples/pycram_bullet/gym/pybullet_examples/pointCloudFromCameraImage.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import math import numpy as np -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) plane = p.loadURDF("plane100.urdf") cube = p.loadURDF("cube.urdf", [0, 0, 1]) diff --git a/examples/pybullet/gym/pybullet_examples/profileTiming.py b/examples/pycram_bullet/gym/pybullet_examples/profileTiming.py similarity index 83% rename from examples/pybullet/gym/pybullet_examples/profileTiming.py rename to examples/pycram_bullet/gym/pybullet_examples/profileTiming.py index 96c25b3004..c2126f4739 100644 --- a/examples/pybullet/gym/pybullet_examples/profileTiming.py +++ b/examples/pycram_bullet/gym/pybullet_examples/profileTiming.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time #you can visualize the timings using Google Chrome, visit about://tracing #and load the json file -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) t = time.time() + 3.1 diff --git a/examples/pybullet/gym/pybullet_examples/projective_texture.py b/examples/pycram_bullet/gym/pybullet_examples/projective_texture.py similarity index 92% rename from examples/pybullet/gym/pybullet_examples/projective_texture.py rename to examples/pycram_bullet/gym/pybullet_examples/projective_texture.py index 6116c59b0e..dc4311239c 100644 --- a/examples/pybullet/gym/pybullet_examples/projective_texture.py +++ b/examples/pycram_bullet/gym/pybullet_examples/projective_texture.py @@ -1,12 +1,12 @@ -import pybullet as p +import pycram_bullet as p from time import sleep import matplotlib.pyplot as plt import numpy as np -import pybullet_data +import pycram_bullet_data physicsClient = p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, 0) bearStartPos1 = [-3.3, 0, 0] bearStartOrientation1 = p.getQuaternionFromEuler([0, 0, 0]) diff --git a/examples/pybullet/gym/pybullet_examples/rollPitchYaw.py b/examples/pycram_bullet/gym/pybullet_examples/rollPitchYaw.py similarity index 88% rename from examples/pybullet/gym/pybullet_examples/rollPitchYaw.py rename to examples/pycram_bullet/gym/pybullet_examples/rollPitchYaw.py index e5dac10ba9..2d04734f11 100644 --- a/examples/pybullet/gym/pybullet_examples/rollPitchYaw.py +++ b/examples/pycram_bullet/gym/pybullet_examples/rollPitchYaw.py @@ -1,12 +1,12 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) q = p.loadURDF("quadruped/quadruped.urdf", useFixedBase=True) rollId = p.addUserDebugParameter("roll", -1.5, 1.5, 0) pitchId = p.addUserDebugParameter("pitch", -1.5, 1.5, 0) diff --git a/examples/pybullet/examples/satCollision.py b/examples/pycram_bullet/gym/pybullet_examples/satCollision.py similarity index 83% rename from examples/pybullet/examples/satCollision.py rename to examples/pycram_bullet/gym/pybullet_examples/satCollision.py index af68e143fc..e9755d90ed 100644 --- a/examples/pybullet/examples/satCollision.py +++ b/examples/pycram_bullet/gym/pybullet_examples/satCollision.py @@ -1,10 +1,10 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.setGravity(0, 0, -10) p.setPhysicsEngineParameter(enableSAT=1) p.loadURDF("cube_concave.urdf", [0, 0, -25], diff --git a/examples/pybullet/examples/sceneAabb.py b/examples/pycram_bullet/gym/pybullet_examples/sceneAabb.py similarity index 87% rename from examples/pybullet/examples/sceneAabb.py rename to examples/pycram_bullet/gym/pybullet_examples/sceneAabb.py index 260fa4f642..b5ee994e55 100644 --- a/examples/pybullet/examples/sceneAabb.py +++ b/examples/pycram_bullet/gym/pybullet_examples/sceneAabb.py @@ -1,11 +1,11 @@ -import pybullet as p +import pycram_bullet as p import time import numpy as np -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") p.loadURDF("sphere2.urdf",[0,0,2]) diff --git a/examples/pybullet/gym/pybullet_examples/signedDistanceField.py b/examples/pycram_bullet/gym/pybullet_examples/signedDistanceField.py similarity index 68% rename from examples/pybullet/gym/pybullet_examples/signedDistanceField.py rename to examples/pycram_bullet/gym/pybullet_examples/signedDistanceField.py index e1f94fc00a..f4cf0e05b4 100644 --- a/examples/pybullet/gym/pybullet_examples/signedDistanceField.py +++ b/examples/pycram_bullet/gym/pybullet_examples/signedDistanceField.py @@ -1,10 +1,10 @@ -import pybullet as p -import pybullet +import pycram_bullet as p +import pycram_bullet import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("toys/concave_box.urdf") p.setGravity(0, 0, -10) for i in range(10): diff --git a/examples/pybullet/gym/pybullet_examples/sleeptest.py b/examples/pycram_bullet/gym/pybullet_examples/sleeptest.py similarity index 97% rename from examples/pybullet/gym/pybullet_examples/sleeptest.py rename to examples/pycram_bullet/gym/pybullet_examples/sleeptest.py index 564d0f74bd..884e7b4d5c 100644 --- a/examples/pybullet/gym/pybullet_examples/sleeptest.py +++ b/examples/pycram_bullet/gym/pybullet_examples/sleeptest.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import time p.connect(p.GUI) p.setAdditionalSearchPath(pd.getDataPath()) diff --git a/examples/pybullet/examples/snake.py b/examples/pycram_bullet/gym/pybullet_examples/snake.py similarity index 97% rename from examples/pybullet/examples/snake.py rename to examples/pycram_bullet/gym/pybullet_examples/snake.py index d70a50e0aa..0777a0b2b6 100644 --- a/examples/pybullet/examples/snake.py +++ b/examples/pycram_bullet/gym/pybullet_examples/snake.py @@ -1,13 +1,13 @@ -import pybullet as p +import pycram_bullet as p import time import math # This simple snake logic is from some 15 year old Havok C++ demo # Thanks to Michael Ewert! -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) plane = p.createCollisionShape(p.GEOM_PLANE) p.createMultiBody(0, plane) diff --git a/examples/pybullet/examples/soccerball.py b/examples/pycram_bullet/gym/pybullet_examples/soccerball.py similarity index 90% rename from examples/pybullet/examples/soccerball.py rename to examples/pycram_bullet/gym/pybullet_examples/soccerball.py index dae6acd8bf..b13537317b 100644 --- a/examples/pybullet/examples/soccerball.py +++ b/examples/pycram_bullet/gym/pybullet_examples/soccerball.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import time p.connect(p.GUI) p.setAdditionalSearchPath(pd.getDataPath()) diff --git a/examples/pybullet/gym/pybullet_examples/switchConstraintSolver.py b/examples/pycram_bullet/gym/pybullet_examples/switchConstraintSolver.py similarity index 88% rename from examples/pybullet/gym/pybullet_examples/switchConstraintSolver.py rename to examples/pycram_bullet/gym/pybullet_examples/switchConstraintSolver.py index b526789cc2..9e0d91d025 100644 --- a/examples/pybullet/gym/pybullet_examples/switchConstraintSolver.py +++ b/examples/pycram_bullet/gym/pybullet_examples/switchConstraintSolver.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001) p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_DANTZIG, globalCFM=0.000001) diff --git a/examples/pybullet/gym/pybullet_examples/testrender_egl.py b/examples/pycram_bullet/gym/pybullet_examples/testrender_egl.py similarity index 70% rename from examples/pybullet/gym/pybullet_examples/testrender_egl.py rename to examples/pycram_bullet/gym/pybullet_examples/testrender_egl.py index c511e3cdcf..ec5d41cd0f 100644 --- a/examples/pybullet/gym/pybullet_examples/testrender_egl.py +++ b/examples/pycram_bullet/gym/pybullet_examples/testrender_egl.py @@ -2,13 +2,13 @@ #using the eglRendererPlugin (hardware OpenGL acceleration) #using EGL on Linux and default OpenGL window on Win32. -#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled +#make sure to compile pycram_bullet with PYBULLET_USE_NUMPY enabled #otherwise use testrender.py (slower but compatible without numpy) #you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU) import numpy as np import matplotlib.pyplot as plt -import pybullet +import pycram_bullet import time import pkgutil @@ -18,26 +18,26 @@ #img = [tandard_normal((50,100)) image = plt.imshow(img, interpolation='none', animated=True, label="blah") ax = plt.gca() -import pybullet_data +import pycram_bullet_data -pybullet.connect(pybullet.DIRECT) +pycram_bullet.connect(pycram_bullet.DIRECT) -pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()) +pycram_bullet.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) egl = pkgutil.get_loader('eglRenderer') if (egl): - pluginId = pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin") + pluginId = pycram_bullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin") else: - pluginId = pybullet.loadPlugin("eglRendererPlugin") + pluginId = pycram_bullet.loadPlugin("eglRendererPlugin") print("pluginId=",pluginId) -pybullet.loadURDF("plane.urdf", [0, 0, -1]) -pybullet.loadURDF("r2d2.urdf") +pycram_bullet.loadURDF("plane.urdf", [0, 0, -1]) +pycram_bullet.loadURDF("r2d2.urdf") camTargetPos = [0, 0, 0] cameraUp = [0, 0, 1] cameraPos = [1, 1, 1] -pybullet.setGravity(0, 0, -10) +pycram_bullet.setGravity(0, 0, -10) pitch = -10.0 @@ -54,20 +54,20 @@ main_start = time.time() while (1): for yaw in range(0, 360, 10): - pybullet.stepSimulation() + pycram_bullet.stepSimulation() start = time.time() - viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, + viewMatrix = pycram_bullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) aspect = pixelWidth / pixelHeight - projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) - img_arr = pybullet.getCameraImage(pixelWidth, + projectionMatrix = pycram_bullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) + img_arr = pycram_bullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix, projectionMatrix, shadow=1, lightDirection=[1, 1, 1], - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) stop = time.time() #print("renderImage %f" % (stop - start)) @@ -99,4 +99,4 @@ print("Total time %f" % (main_stop - main_start)) -pybullet.resetSimulation() +pycram_bullet.resetSimulation() diff --git a/examples/pybullet/gym/pybullet_examples/testrender_np.py b/examples/pycram_bullet/gym/pybullet_examples/testrender_np.py similarity index 70% rename from examples/pybullet/gym/pybullet_examples/testrender_np.py rename to examples/pycram_bullet/gym/pybullet_examples/testrender_np.py index 2c313a4575..0ed5608e9a 100644 --- a/examples/pybullet/gym/pybullet_examples/testrender_np.py +++ b/examples/pycram_bullet/gym/pybullet_examples/testrender_np.py @@ -1,12 +1,12 @@ -#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled +#make sure to compile pycram_bullet with PYBULLET_USE_NUMPY enabled #otherwise use testrender.py (slower but compatible without numpy) #you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU) import numpy as np import matplotlib.pyplot as plt -import pybullet +import pycram_bullet import time -import pybullet_data +import pycram_bullet_data plt.ion() @@ -15,17 +15,17 @@ image = plt.imshow(img, interpolation='none', animated=True, label="blah") ax = plt.gca() -#pybullet.connect(pybullet.GUI) -pybullet.connect(pybullet.DIRECT) +#pycram_bullet.connect(pycram_bullet.GUI) +pycram_bullet.connect(pycram_bullet.DIRECT) -pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()) -pybullet.loadURDF("plane.urdf", [0, 0, -1]) -pybullet.loadURDF("r2d2.urdf") +pycram_bullet.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) +pycram_bullet.loadURDF("plane.urdf", [0, 0, -1]) +pycram_bullet.loadURDF("r2d2.urdf") camTargetPos = [0, 0, 0] cameraUp = [0, 0, 1] cameraPos = [1, 1, 1] -pybullet.setGravity(0, 0, -10) +pycram_bullet.setGravity(0, 0, -10) pitch = -10.0 @@ -42,20 +42,20 @@ main_start = time.time() while (1): for yaw in range(0, 360, 10): - pybullet.stepSimulation() + pycram_bullet.stepSimulation() start = time.time() - viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, + viewMatrix = pycram_bullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) aspect = pixelWidth / pixelHeight - projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) - img_arr = pybullet.getCameraImage(pixelWidth, + projectionMatrix = pycram_bullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) + img_arr = pycram_bullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix, projectionMatrix, shadow=1, lightDirection=[1, 1, 1], - renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + renderer=pycram_bullet.ER_BULLET_HARDWARE_OPENGL) stop = time.time() print("renderImage %f" % (stop - start)) @@ -87,4 +87,4 @@ print("Total time %f" % (main_stop - main_start)) -pybullet.resetSimulation() +pycram_bullet.resetSimulation() diff --git a/examples/pybullet/gym/pybullet_examples/transparent.py b/examples/pycram_bullet/gym/pybullet_examples/transparent.py similarity index 87% rename from examples/pybullet/gym/pybullet_examples/transparent.py rename to examples/pycram_bullet/gym/pybullet_examples/transparent.py index 8a4831002c..45130cf234 100644 --- a/examples/pybullet/gym/pybullet_examples/transparent.py +++ b/examples/pycram_bullet/gym/pybullet_examples/transparent.py @@ -1,9 +1,9 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.loadURDF("plane.urdf") sphereUid = p.loadURDF("sphere_transparent.urdf", [0, 0, 2]) diff --git a/examples/pybullet/gym/pybullet_examples/vhacd.py b/examples/pycram_bullet/gym/pybullet_examples/vhacd.py similarity index 54% rename from examples/pybullet/gym/pybullet_examples/vhacd.py rename to examples/pycram_bullet/gym/pybullet_examples/vhacd.py index 8b4bcf77d0..791e91a18a 100644 --- a/examples/pybullet/gym/pybullet_examples/vhacd.py +++ b/examples/pycram_bullet/gym/pybullet_examples/vhacd.py @@ -1,11 +1,11 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import os -import pybullet_data +import pycram_bullet_data p.connect(p.DIRECT) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) name_in = os.path.join(pd.getDataPath(), "duck.obj") name_out = "duck_vhacd.obj" name_log = "log.txt" diff --git a/examples/pybullet/gym/pybullet_examples/video_sync_mp4.py b/examples/pycram_bullet/gym/pybullet_examples/video_sync_mp4.py similarity index 89% rename from examples/pybullet/gym/pybullet_examples/video_sync_mp4.py rename to examples/pycram_bullet/gym/pybullet_examples/video_sync_mp4.py index 7a517b10e1..f4f55b9b3c 100644 --- a/examples/pybullet/gym/pybullet_examples/video_sync_mp4.py +++ b/examples/pycram_bullet/gym/pybullet_examples/video_sync_mp4.py @@ -1,6 +1,6 @@ -import pybullet as p +import pycram_bullet as p import time -import pybullet_data +import pycram_bullet_data #Once the video is recorded, you can extract all individual frames using ffmpeg #mkdir frames @@ -9,7 +9,7 @@ #by default, PyBullet runs at 240Hz p.connect(p.GUI, options="--width=320 --height=200 --mp4=\"test.mp4\" --mp4fps=240") -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.configureDebugVisualizer(p.COV_ENABLE_GUI,0) p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1) p.loadURDF("plane.urdf") diff --git a/examples/pybullet/gym/pybullet_examples/vr_kuka_setup.py b/examples/pycram_bullet/gym/pybullet_examples/vr_kuka_setup.py similarity index 98% rename from examples/pybullet/gym/pybullet_examples/vr_kuka_setup.py rename to examples/pycram_bullet/gym/pybullet_examples/vr_kuka_setup.py index ee94d5f303..860e959bfc 100644 --- a/examples/pybullet/gym/pybullet_examples/vr_kuka_setup.py +++ b/examples/pycram_bullet/gym/pybullet_examples/vr_kuka_setup.py @@ -1,14 +1,14 @@ -import pybullet as p +import pycram_bullet as p import time #p.connect(p.UDP,"192.168.86.100") -import pybullet_data +import pycram_bullet_data cid = p.connect(p.SHARED_MEMORY) if (cid < 0): p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) p.resetSimulation() #disable rendering during loading makes it much faster diff --git a/examples/pybullet/gym/pybullet_robots/__init__.py b/examples/pycram_bullet/gym/pybullet_robots/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_robots/__init__.py rename to examples/pycram_bullet/gym/pybullet_robots/__init__.py diff --git a/examples/pybullet/gym/pybullet_robots/laikago/__init__.py b/examples/pycram_bullet/gym/pybullet_robots/laikago/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_robots/laikago/__init__.py rename to examples/pycram_bullet/gym/pybullet_robots/laikago/__init__.py diff --git a/examples/pybullet/gym/pybullet_robots/laikago/laikago.py b/examples/pycram_bullet/gym/pybullet_robots/laikago/laikago.py similarity index 98% rename from examples/pybullet/gym/pybullet_robots/laikago/laikago.py rename to examples/pycram_bullet/gym/pybullet_robots/laikago/laikago.py index 227c3317d7..7f70b398a0 100644 --- a/examples/pybullet/gym/pybullet_robots/laikago/laikago.py +++ b/examples/pycram_bullet/gym/pybullet_robots/laikago/laikago.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import time diff --git a/examples/pybullet/gym/pybullet_robots/panda/__init__.py b/examples/pycram_bullet/gym/pybullet_robots/panda/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_robots/panda/__init__.py rename to examples/pycram_bullet/gym/pybullet_robots/panda/__init__.py diff --git a/examples/pybullet/gym/pybullet_robots/panda/batchsim3.py b/examples/pycram_bullet/gym/pybullet_robots/panda/batchsim3.py similarity index 94% rename from examples/pybullet/gym/pybullet_robots/panda/batchsim3.py rename to examples/pycram_bullet/gym/pybullet_robots/panda/batchsim3.py index c3d9d65b11..d666222f7b 100644 --- a/examples/pybullet/gym/pybullet_robots/panda/batchsim3.py +++ b/examples/pycram_bullet/gym/pybullet_robots/panda/batchsim3.py @@ -4,7 +4,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client import panda_sim @@ -30,8 +30,8 @@ def ExploreWorker(rank, num_processes, childPipe, args): print("hi:",rank, " out of ", num_processes) - import pybullet as op1 - import pybullet_data as pd + import pycram_bullet as op1 + import pycram_bullet_data as pd logName="" p1=0 n = 0 diff --git a/examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py b/examples/pycram_bullet/gym/pybullet_robots/panda/batchsim3_grasp.py similarity index 97% rename from examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py rename to examples/pycram_bullet/gym/pybullet_robots/panda/batchsim3_grasp.py index 39c8cc41a1..a9a9854812 100644 --- a/examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py +++ b/examples/pycram_bullet/gym/pybullet_robots/panda/batchsim3_grasp.py @@ -4,7 +4,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client import panda_sim_grasp as panda_sim @@ -30,8 +30,8 @@ def ExploreWorker(rank, num_processes, childPipe, args): print("hi:",rank, " out of ", num_processes) - import pybullet as op1 - import pybullet_data as pd + import pycram_bullet as op1 + import pycram_bullet_data as pd logName="" p1=0 n = 0 diff --git a/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py b/examples/pycram_bullet/gym/pybullet_robots/panda/loadpanda.py similarity index 74% rename from examples/pybullet/gym/pybullet_envs/examples/loadpanda.py rename to examples/pycram_bullet/gym/pybullet_robots/panda/loadpanda.py index 022133a296..c9000ee299 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py +++ b/examples/pycram_bullet/gym/pybullet_robots/panda/loadpanda.py @@ -1,9 +1,9 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import math import time import numpy as np -from pybullet_envs.examples import panda_sim +import pycram_bullet_robots.panda.panda_sim as panda_sim p.connect(p.GUI) p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py b/examples/pycram_bullet/gym/pybullet_robots/panda/loadpanda_grasp.py similarity index 87% rename from examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py rename to examples/pycram_bullet/gym/pybullet_robots/panda/loadpanda_grasp.py index b8effa89bb..636b0f215f 100644 --- a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py +++ b/examples/pycram_bullet/gym/pybullet_robots/panda/loadpanda_grasp.py @@ -1,9 +1,9 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import math import time import numpy as np -import pybullet_robots.panda.panda_sim_grasp as panda_sim +import pycram_bullet_robots.panda.panda_sim_grasp as panda_sim #video requires ffmpeg available in path createVideo=False @@ -11,7 +11,7 @@ timeStep = 1./fps if createVideo: - p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=0 --mp4=\"pybullet_grasp.mp4\" --mp4fps="+str(fps) ) + p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=0 --mp4=\"pycram_bullet_grasp.mp4\" --mp4fps="+str(fps) ) else: p.connect(p.GUI) diff --git a/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py b/examples/pycram_bullet/gym/pybullet_robots/panda/panda_sim.py similarity index 100% rename from examples/pybullet/gym/pybullet_robots/panda/panda_sim.py rename to examples/pycram_bullet/gym/pybullet_robots/panda/panda_sim.py diff --git a/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py b/examples/pycram_bullet/gym/pybullet_robots/panda/panda_sim_grasp.py similarity index 100% rename from examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py rename to examples/pycram_bullet/gym/pybullet_robots/panda/panda_sim_grasp.py diff --git a/examples/pybullet/gym/pybullet_robots/xarm/__init__.py b/examples/pycram_bullet/gym/pybullet_robots/xarm/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_robots/xarm/__init__.py rename to examples/pycram_bullet/gym/pybullet_robots/xarm/__init__.py diff --git a/examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py b/examples/pycram_bullet/gym/pybullet_robots/xarm/loadxarm_sim.py similarity index 71% rename from examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py rename to examples/pycram_bullet/gym/pybullet_robots/xarm/loadxarm_sim.py index f250979754..4fe58c363b 100644 --- a/examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py +++ b/examples/pycram_bullet/gym/pybullet_robots/xarm/loadxarm_sim.py @@ -1,9 +1,9 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import math import time import numpy as np -import pybullet_robots.xarm.xarm_sim as xarm_sim +import pycram_bullet_robots.xarm.xarm_sim as xarm_sim p.connect(p.GUI) p.setAdditionalSearchPath(pd.getDataPath()) diff --git a/examples/pybullet/gym/pybullet_robots/xarm/xarm.py b/examples/pycram_bullet/gym/pybullet_robots/xarm/xarm.py similarity index 95% rename from examples/pybullet/gym/pybullet_robots/xarm/xarm.py rename to examples/pycram_bullet/gym/pybullet_robots/xarm/xarm.py index 893ff065eb..b6f701d324 100644 --- a/examples/pybullet/gym/pybullet_robots/xarm/xarm.py +++ b/examples/pycram_bullet/gym/pybullet_robots/xarm/xarm.py @@ -1,5 +1,5 @@ -import pybullet as p -import pybullet_data as pd +import pycram_bullet as p +import pycram_bullet_data as pd import time p.connect(p.GUI)#, options="--background_color_red=1.0 --background_color_blue=1.0 --background_color_green=1.0") p.setAdditionalSearchPath(pd.getDataPath()) diff --git a/examples/pybullet/gym/pybullet_robots/xarm/xarm_sim.py b/examples/pycram_bullet/gym/pybullet_robots/xarm/xarm_sim.py similarity index 98% rename from examples/pybullet/gym/pybullet_robots/xarm/xarm_sim.py rename to examples/pycram_bullet/gym/pybullet_robots/xarm/xarm_sim.py index 7dade3f3dd..cb24c7b99e 100644 --- a/examples/pybullet/gym/pybullet_robots/xarm/xarm_sim.py +++ b/examples/pycram_bullet/gym/pybullet_robots/xarm/xarm_sim.py @@ -4,7 +4,7 @@ useNullSpace = 0 useDynamics = 1 -useIKFast = 0 #ikfast doesn't get solutions and is actually slower than pybullet IK (300us versus 150us), probably a configuration issue +useIKFast = 0 #ikfast doesn't get solutions and is actually slower than pycram_bullet IK (300us versus 150us), probably a configuration issue if useIKFast: import ikfastpy diff --git a/examples/pybullet/gym/pybullet_utils/__init__.py b/examples/pycram_bullet/gym/pybullet_utils/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_utils/__init__.py rename to examples/pycram_bullet/gym/pybullet_utils/__init__.py diff --git a/examples/pybullet/gym/pybullet_utils/arg_parser.py b/examples/pycram_bullet/gym/pybullet_utils/arg_parser.py similarity index 100% rename from examples/pybullet/gym/pybullet_utils/arg_parser.py rename to examples/pycram_bullet/gym/pybullet_utils/arg_parser.py diff --git a/examples/pybullet/gym/pybullet_utils/bullet_client.py b/examples/pycram_bullet/gym/pybullet_utils/bullet_client.py similarity index 57% rename from examples/pybullet/gym/pybullet_utils/bullet_client.py rename to examples/pycram_bullet/gym/pybullet_utils/bullet_client.py index 6703722ffb..788ebd8418 100644 --- a/examples/pybullet/gym/pybullet_utils/bullet_client.py +++ b/examples/pycram_bullet/gym/pybullet_utils/bullet_client.py @@ -1,14 +1,14 @@ -"""A wrapper for pybullet to manage different clients.""" +"""A wrapper for pycram_bullet to manage different clients.""" from __future__ import absolute_import from __future__ import division import os import functools import inspect -import pybullet +import pycram_bullet class BulletClient(object): - """A wrapper for pybullet to manage different clients.""" + """A wrapper for pycram_bullet to manage different clients.""" def __init__(self, connection_mode=None, hostName=None, options=''): """Creates a Bullet client and connects to a simulation. @@ -17,35 +17,35 @@ def __init__(self, connection_mode=None, hostName=None, options=''): connection_mode: `None` connects to an existing simulation or, if fails, creates a new headless simulation, - `pybullet.GUI` creates a new simulation with a GUI, - `pybullet.DIRECT` creates a headless simulation, - `pybullet.SHARED_MEMORY` connects to an existing simulation. + `pycram_bullet.GUI` creates a new simulation with a GUI, + `pycram_bullet.DIRECT` creates a headless simulation, + `pycram_bullet.SHARED_MEMORY` connects to an existing simulation. """ self._shapes = {} self._pid = os.getpid() if connection_mode is None: - self._client = pybullet.connect(pybullet.SHARED_MEMORY, options=options) + self._client = pycram_bullet.connect(pycram_bullet.SHARED_MEMORY, options=options) if self._client >= 0: return else: - connection_mode = pybullet.DIRECT + connection_mode = pycram_bullet.DIRECT if hostName is None: - self._client = pybullet.connect(connection_mode, options=options) + self._client = pycram_bullet.connect(connection_mode, options=options) else: - self._client = pybullet.connect(connection_mode, hostName=hostName, options=options) + self._client = pycram_bullet.connect(connection_mode, hostName=hostName, options=options) def __del__(self): """Clean up connection if not already done.""" if self._client>=0 and self._pid == os.getpid(): try: - pybullet.disconnect(physicsClientId=self._client) + pycram_bullet.disconnect(physicsClientId=self._client) self._client = -1 - except pybullet.error: + except pycram_bullet.error: pass def __getattr__(self, name): """Inject the client id into Bullet functions.""" - attribute = getattr(pybullet, name) + attribute = getattr(pycram_bullet, name) if inspect.isbuiltin(attribute): attribute = functools.partial(attribute, physicsClientId=self._client) if name=="disconnect": diff --git a/examples/pybullet/gym/pybullet_utils/examples/__init__.py b/examples/pycram_bullet/gym/pybullet_utils/examples/__init__.py similarity index 100% rename from examples/pybullet/gym/pybullet_utils/examples/__init__.py rename to examples/pycram_bullet/gym/pybullet_utils/examples/__init__.py diff --git a/examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py b/examples/pycram_bullet/gym/pybullet_utils/examples/combineUrdf.py similarity index 74% rename from examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py rename to examples/pycram_bullet/gym/pybullet_utils/examples/combineUrdf.py index 30e666d4e8..7bc2d59a97 100644 --- a/examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py +++ b/examples/pycram_bullet/gym/pybullet_utils/examples/combineUrdf.py @@ -1,14 +1,14 @@ -from pybullet_utils import bullet_client as bc -from pybullet_utils import urdfEditor as ed -import pybullet -import pybullet_data +from pycram_bullet_utils import bullet_client as bc +from pycram_bullet_utils import urdfEditor as ed +import pycram_bullet +import pycram_bullet_data import time -p0 = bc.BulletClient(connection_mode=pybullet.DIRECT) -p0.setAdditionalSearchPath(pybullet_data.getDataPath()) +p0 = bc.BulletClient(connection_mode=pycram_bullet.DIRECT) +p0.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) -p1 = bc.BulletClient(connection_mode=pybullet.DIRECT) -p1.setAdditionalSearchPath(pybullet_data.getDataPath()) +p1 = bc.BulletClient(connection_mode=pycram_bullet.DIRECT) +p1.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) #can also connect using different modes, GUI, SHARED_MEMORY, TCP, UDP, SHARED_MEMORY_SERVER, GUI_SERVER @@ -40,7 +40,7 @@ print("p0.getNumBodies()=", p0.getNumBodies()) print("p1.getNumBodies()=", p1.getNumBodies()) -pgui = bc.BulletClient(connection_mode=pybullet.GUI) +pgui = bc.BulletClient(connection_mode=pycram_bullet.GUI) pgui.configureDebugVisualizer(pgui.COV_ENABLE_RENDERING, 0) orn = [0, 0, 0, 1] diff --git a/examples/pybullet/gym/pybullet_utils/examples/combined.py b/examples/pycram_bullet/gym/pybullet_utils/examples/combined.py similarity index 91% rename from examples/pybullet/gym/pybullet_utils/examples/combined.py rename to examples/pycram_bullet/gym/pybullet_utils/examples/combined.py index dcb2c4e5f3..2380ab9d8c 100644 --- a/examples/pybullet/gym/pybullet_utils/examples/combined.py +++ b/examples/pycram_bullet/gym/pybullet_utils/examples/combined.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p p.connect(p.GUI) p.loadURDF("combined.urdf", useFixedBase=True) diff --git a/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py b/examples/pycram_bullet/gym/pybullet_utils/examples/mjcf2urdf.py similarity index 87% rename from examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py rename to examples/pycram_bullet/gym/pybullet_utils/examples/mjcf2urdf.py index cca972d326..2c6447b9d3 100644 --- a/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py +++ b/examples/pycram_bullet/gym/pybullet_utils/examples/mjcf2urdf.py @@ -1,9 +1,9 @@ #rudimentary MuJoCo mjcf to ROS URDF converter using the UrdfEditor -from pybullet_utils import bullet_client as bc -import pybullet_data as pd +from pycram_bullet_utils import bullet_client as bc +import pycram_bullet_data as pd -import pybullet_utils.urdfEditor as ed +import pycram_bullet_utils.urdfEditor as ed import argparse parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument('--mjcf', diff --git a/examples/pycram_bullet/gym/pybullet_utils/examples/multipleScenes.py b/examples/pycram_bullet/gym/pybullet_utils/examples/multipleScenes.py new file mode 100644 index 0000000000..a7e302418d --- /dev/null +++ b/examples/pycram_bullet/gym/pybullet_utils/examples/multipleScenes.py @@ -0,0 +1,19 @@ +from pycram_bullet_utils import bullet_client as bc +import pycram_bullet +import pycram_bullet_data + +p0 = bc.BulletClient(connection_mode=pycram_bullet.DIRECT) +p0.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) + +p1 = bc.BulletClient(connection_mode=pycram_bullet.DIRECT) +p1.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) + +#can also connect using different modes, GUI, SHARED_MEMORY, TCP, UDP, SHARED_MEMORY_SERVER, GUI_SERVER +#pgui = bc.BulletClient(connection_mode=pycram_bullet.GUI) + +p0.loadURDF("r2d2.urdf") +p1.loadSDF("stadium.sdf") +print(p0._client) +print(p1._client) +print("p0.getNumBodies()=", p0.getNumBodies()) +print("p1.getNumBodies()=", p1.getNumBodies()) diff --git a/examples/pybullet/gym/pybullet_utils/examples/testargs.py b/examples/pycram_bullet/gym/pybullet_utils/examples/testargs.py similarity index 77% rename from examples/pybullet/gym/pybullet_utils/examples/testargs.py rename to examples/pycram_bullet/gym/pybullet_utils/examples/testargs.py index 0f512a943d..905376760a 100644 --- a/examples/pybullet/gym/pybullet_utils/examples/testargs.py +++ b/examples/pycram_bullet/gym/pybullet_utils/examples/testargs.py @@ -1,6 +1,6 @@ -import pybullet_data -from pybullet_utils.arg_parser import ArgParser -from pybullet_utils.logger import Logger +import pycram_bullet_data +from pycram_bullet_utils.arg_parser import ArgParser +from pycram_bullet_utils.logger import Logger import sys @@ -10,7 +10,7 @@ def build_arg_parser(args): arg_file = arg_parser.parse_string('arg_file', '') if (arg_file != ''): - path = pybullet_data.getDataPath() + "/args/" + arg_file + path = pycram_bullet_data.getDataPath() + "/args/" + arg_file succ = arg_parser.load_file(path) Logger.print2(arg_file) assert succ, Logger.print2('Failed to load args from: ' + arg_file) diff --git a/examples/pybullet/gym/pybullet_utils/examples/testlog.py b/examples/pycram_bullet/gym/pybullet_utils/examples/testlog.py similarity index 80% rename from examples/pybullet/gym/pybullet_utils/examples/testlog.py rename to examples/pycram_bullet/gym/pybullet_utils/examples/testlog.py index cd39376a9a..53d1c6313a 100644 --- a/examples/pybullet/gym/pybullet_utils/examples/testlog.py +++ b/examples/pycram_bullet/gym/pybullet_utils/examples/testlog.py @@ -1,4 +1,4 @@ -from pybullet_utils.logger import Logger +from pycram_bullet_utils.logger import Logger logger = Logger() logger.configure_output_file("e:/mylog.txt") for i in range(10): diff --git a/examples/pybullet/gym/pybullet_utils/gazebo_world_parser.py b/examples/pycram_bullet/gym/pybullet_utils/gazebo_world_parser.py similarity index 99% rename from examples/pybullet/gym/pybullet_utils/gazebo_world_parser.py rename to examples/pycram_bullet/gym/pybullet_utils/gazebo_world_parser.py index 486ffac564..e539911f70 100644 --- a/examples/pybullet/gym/pybullet_utils/gazebo_world_parser.py +++ b/examples/pycram_bullet/gym/pybullet_utils/gazebo_world_parser.py @@ -1,6 +1,6 @@ from xml.etree import ElementTree as ET from os import path -import pybullet as p +import pycram_bullet as p def log(txt, level): print("log: ", txt) diff --git a/examples/pybullet/gym/pybullet_utils/graphicsClient.py b/examples/pycram_bullet/gym/pybullet_utils/graphicsClient.py similarity index 78% rename from examples/pybullet/gym/pybullet_utils/graphicsClient.py rename to examples/pycram_bullet/gym/pybullet_utils/graphicsClient.py index ca2abef561..2bdbd7ccf5 100644 --- a/examples/pybullet/gym/pybullet_utils/graphicsClient.py +++ b/examples/pycram_bullet/gym/pybullet_utils/graphicsClient.py @@ -1,8 +1,8 @@ -import pybullet as p +import pycram_bullet as p import time p.connect(p.GRAPHICS_SERVER_TCP) -import pybullet_data as pd +import pycram_bullet_data as pd p.setAdditionalSearchPath(pd.getDataPath()) p.loadURDF("plane.urdf") diff --git a/examples/pybullet/gym/pybullet_utils/graphicsServer.py b/examples/pycram_bullet/gym/pybullet_utils/graphicsServer.py similarity index 82% rename from examples/pybullet/gym/pybullet_utils/graphicsServer.py rename to examples/pycram_bullet/gym/pybullet_utils/graphicsServer.py index 7f27fc6581..6a8a3b65eb 100644 --- a/examples/pybullet/gym/pybullet_utils/graphicsServer.py +++ b/examples/pycram_bullet/gym/pybullet_utils/graphicsServer.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p import time p.connect(p.GRAPHICS_SERVER) diff --git a/examples/pybullet/gym/pybullet_utils/logger.py b/examples/pycram_bullet/gym/pybullet_utils/logger.py similarity index 98% rename from examples/pybullet/gym/pybullet_utils/logger.py rename to examples/pycram_bullet/gym/pybullet_utils/logger.py index 3c757623ef..d419887ec2 100644 --- a/examples/pybullet/gym/pybullet_utils/logger.py +++ b/examples/pycram_bullet/gym/pybullet_utils/logger.py @@ -1,4 +1,4 @@ -import pybullet_utils.mpi_util as MPIUtil +import pycram_bullet_utils.mpi_util as MPIUtil """ Some simple logging functionality, inspired by rllab's logging. diff --git a/examples/pybullet/gym/pybullet_utils/math_util.py b/examples/pycram_bullet/gym/pybullet_utils/math_util.py similarity index 100% rename from examples/pybullet/gym/pybullet_utils/math_util.py rename to examples/pycram_bullet/gym/pybullet_utils/math_util.py diff --git a/examples/pybullet/gym/pybullet_utils/mpi_util.py b/examples/pycram_bullet/gym/pybullet_utils/mpi_util.py similarity index 100% rename from examples/pybullet/gym/pybullet_utils/mpi_util.py rename to examples/pycram_bullet/gym/pybullet_utils/mpi_util.py diff --git a/examples/pybullet/gym/pybullet_utils/pd_controller_stable.py b/examples/pycram_bullet/gym/pybullet_utils/pd_controller_stable.py similarity index 100% rename from examples/pybullet/gym/pybullet_utils/pd_controller_stable.py rename to examples/pycram_bullet/gym/pybullet_utils/pd_controller_stable.py diff --git a/examples/pybullet/gym/pybullet_utils/readwriteurdf.py b/examples/pycram_bullet/gym/pybullet_utils/readwriteurdf.py similarity index 67% rename from examples/pybullet/gym/pybullet_utils/readwriteurdf.py rename to examples/pycram_bullet/gym/pybullet_utils/readwriteurdf.py index 18218e67fb..20a39f3320 100644 --- a/examples/pybullet/gym/pybullet_utils/readwriteurdf.py +++ b/examples/pycram_bullet/gym/pybullet_utils/readwriteurdf.py @@ -1,7 +1,7 @@ -from pybullet_utils import bullet_client as bc -from pybullet_utils import urdfEditor as ed -import pybullet -import pybullet_data +from pycram_bullet_utils import bullet_client as bc +from pycram_bullet_utils import urdfEditor as ed +import pycram_bullet +import pycram_bullet_data import time import argparse @@ -15,9 +15,9 @@ args = parser.parse_args() -p0 = bc.BulletClient(connection_mode=pybullet.DIRECT) +p0 = bc.BulletClient(connection_mode=pycram_bullet.DIRECT) -p0.setAdditionalSearchPath(pybullet_data.getDataPath()) +p0.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) body_id = p0.loadURDF(args.urdf_in, flags = args.urdf_flags) ed0 = ed.UrdfEditor() ed0.initializeFromBulletBody(body_id, p0._client) diff --git a/examples/pybullet/gym/pybullet_utils/runServer.py b/examples/pycram_bullet/gym/pybullet_utils/runServer.py similarity index 80% rename from examples/pybullet/gym/pybullet_utils/runServer.py rename to examples/pycram_bullet/gym/pybullet_utils/runServer.py index 054fe66a4e..9a98556915 100644 --- a/examples/pybullet/gym/pybullet_utils/runServer.py +++ b/examples/pycram_bullet/gym/pybullet_utils/runServer.py @@ -5,12 +5,12 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) -import pybullet_data -import pybullet as p +import pycram_bullet_data +import pycram_bullet as p import time p.connect(p.GUI_SERVER) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) +p.setAdditionalSearchPath(pycram_bullet_data.getDataPath()) while (1): #this is a no-op command, to allow GUI updates on Mac OSX (main thread) diff --git a/examples/pybullet/gym/pybullet_utils/transformations.py b/examples/pycram_bullet/gym/pybullet_utils/transformations.py similarity index 100% rename from examples/pybullet/gym/pybullet_utils/transformations.py rename to examples/pycram_bullet/gym/pybullet_utils/transformations.py diff --git a/examples/pybullet/gym/pybullet_utils/urdfEditor.py b/examples/pycram_bullet/gym/pybullet_utils/urdfEditor.py similarity index 99% rename from examples/pybullet/gym/pybullet_utils/urdfEditor.py rename to examples/pycram_bullet/gym/pybullet_utils/urdfEditor.py index 3b6a9fcbc0..8071e95b2e 100644 --- a/examples/pybullet/gym/pybullet_utils/urdfEditor.py +++ b/examples/pycram_bullet/gym/pybullet_utils/urdfEditor.py @@ -1,4 +1,4 @@ -import pybullet as p +import pycram_bullet as p import time diff --git a/examples/pybullet/gym/pybullet_utils/util.py b/examples/pycram_bullet/gym/pybullet_utils/util.py similarity index 100% rename from examples/pybullet/gym/pybullet_utils/util.py rename to examples/pycram_bullet/gym/pybullet_utils/util.py diff --git a/examples/pybullet/notebooks/HelloPyBullet.ipynb b/examples/pycram_bullet/notebooks/HelloPyBullet.ipynb similarity index 98% rename from examples/pybullet/notebooks/HelloPyBullet.ipynb rename to examples/pycram_bullet/notebooks/HelloPyBullet.ipynb index 70c6765413..3e38cead7d 100644 --- a/examples/pybullet/notebooks/HelloPyBullet.ipynb +++ b/examples/pycram_bullet/notebooks/HelloPyBullet.ipynb @@ -20,7 +20,7 @@ "id": "view-in-github" }, "source": [ - "\"Open" + "\"Open" ] }, { @@ -42,7 +42,7 @@ "source": [ "## Setup\n", "\n", - "First, let's install the [PyBullet](https://pybullet.org/wordpress/) module.\n" + "First, let's install the [PyBullet](https://pycram_bullet.org/wordpress/) module.\n" ] }, { @@ -52,7 +52,7 @@ }, "source": [ "# Install the PyBullet module.\n", - "!pip install -U pybullet" + "!pip install -U pycram_bullet" ], "execution_count": null, "outputs": [] @@ -88,7 +88,7 @@ } }, "source": [ - "import pybullet as p\n", + "import pycram_bullet as p\n", "\n", "p.connect(p.DIRECT)" ], @@ -126,9 +126,9 @@ "id": "FW-AXeioHrU4" }, "source": [ - "import pybullet_data\n", + "import pycram_bullet_data\n", "\n", - "p.setAdditionalSearchPath(pybullet_data.getDataPath())" + "p.setAdditionalSearchPath(pycram_bullet_data.getDataPath())" ], "execution_count": null, "outputs": [] diff --git a/examples/pybullet/numpy/humanoid_running.py b/examples/pycram_bullet/numpy/humanoid_running.py similarity index 99% rename from examples/pybullet/numpy/humanoid_running.py rename to examples/pycram_bullet/numpy/humanoid_running.py index 5f6a1f894b..c2b3b1eb91 100644 --- a/examples/pybullet/numpy/humanoid_running.py +++ b/examples/pycram_bullet/numpy/humanoid_running.py @@ -6,7 +6,7 @@ import sys import numpy as np import argparse -import pybullet as p +import pycram_bullet as p import time gui = True @@ -203,7 +203,7 @@ def demo_run(): print("############################### distance = %0.2f meters" % dummy.distance) print("############################### FPS = ", 1000 / (t2 - t1)) #print("Starting benchmark") - #logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json") + #logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pycram_bullet_humanoid_timings.json") #p.stopStateLogging(logId) print("ended benchmark") print(frame) diff --git a/examples/pybullet/premake4.lua b/examples/pycram_bullet/premake4.lua similarity index 99% rename from examples/pybullet/premake4.lua rename to examples/pycram_bullet/premake4.lua index 864860e8f6..f91d4cbd24 100644 --- a/examples/pybullet/premake4.lua +++ b/examples/pycram_bullet/premake4.lua @@ -1,6 +1,6 @@ -project ("pybullet") +project ("pycram_bullet") language "C++" kind "SharedLib" @@ -113,7 +113,7 @@ if not _OPTIONS["no-enet"] then files { - "pybullet.c", + "pycram_bullet.c", "../../examples/SharedMemory/IKTrajectoryHelper.cpp", "../../examples/SharedMemory/IKTrajectoryHelper.h", "../../examples/ExampleBrowser/InProcessExampleBrowser.cpp", diff --git a/examples/pybullet/pybullet.c b/examples/pycram_bullet/pycram_bullet.c similarity index 89% rename from examples/pybullet/pybullet.c rename to examples/pycram_bullet/pycram_bullet.c index 5a8c2eb03f..3cae939cbd 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pycram_bullet/pycram_bullet.c @@ -93,7 +93,7 @@ b3PhysicsClientHandle getPhysicsClient(int physicsClientId) return 0; } -static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index) +static double pycram_bullet_internalGetFloatFromSequence(PyObject* seq, int index) { double v = 0.0; PyObject* item; @@ -111,7 +111,7 @@ static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index) return v; } -static int pybullet_internalGetIntFromSequence(PyObject* seq, int index) +static int pycram_bullet_internalGetIntFromSequence(PyObject* seq, int index) { int v = 0; PyObject* item; @@ -129,7 +129,7 @@ static int pybullet_internalGetIntFromSequence(PyObject* seq, int index) return v; } -static const char* pybullet_internalGetCStringFromSequence(PyObject* seq, int index) +static const char* pycram_bullet_internalGetCStringFromSequence(PyObject* seq, int index) { const char* v = 0; PyObject* item; @@ -161,7 +161,7 @@ static const char* pybullet_internalGetCStringFromSequence(PyObject* seq, int in // // // Args: // matrix - float[16] which will be set by values from objMat -static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) +static int pycram_bullet_internalSetMatrix(PyObject* objMat, float matrix[16]) { int i, len; PyObject* seq; @@ -177,7 +177,7 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) { for (i = 0; i < len; i++) { - matrix[i] = pybullet_internalGetFloatFromSequence(seq, i); + matrix[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } Py_DECREF(seq); return 1; @@ -194,7 +194,7 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) // // // Args: // vector - float[3] which will be set by values from objMat -static int pybullet_internalSetVector(PyObject* objVec, float vector[3]) +static int pycram_bullet_internalSetVector(PyObject* objVec, float vector[3]) { int i, len; PyObject* seq = 0; @@ -211,7 +211,7 @@ static int pybullet_internalSetVector(PyObject* objVec, float vector[3]) { for (i = 0; i < len; i++) { - vector[i] = pybullet_internalGetFloatFromSequence(seq, i); + vector[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } Py_DECREF(seq); return 1; @@ -223,7 +223,7 @@ static int pybullet_internalSetVector(PyObject* objVec, float vector[3]) } // vector - double[2] which will be set by values from obVec -static int pybullet_internalSetVector2d(PyObject* obVec, double vector[2]) +static int pycram_bullet_internalSetVector2d(PyObject* obVec, double vector[2]) { int i, len; PyObject* seq; @@ -239,7 +239,7 @@ static int pybullet_internalSetVector2d(PyObject* obVec, double vector[2]) { for (i = 0; i < len; i++) { - vector[i] = pybullet_internalGetFloatFromSequence(seq, i); + vector[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } Py_DECREF(seq); return 1; @@ -251,7 +251,7 @@ static int pybullet_internalSetVector2d(PyObject* obVec, double vector[2]) } // vector - double[3] which will be set by values from obVec -static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) +static int pycram_bullet_internalSetVectord(PyObject* obVec, double vector[3]) { int i, len; PyObject* seq; @@ -267,7 +267,7 @@ static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) { for (i = 0; i < len; i++) { - vector[i] = pybullet_internalGetFloatFromSequence(seq, i); + vector[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } Py_DECREF(seq); return 1; @@ -279,7 +279,7 @@ static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) } // vector - double[4] which will be set by values from obVec -static int pybullet_internalSetVector4d(PyObject* obVec, double vector[4]) +static int pycram_bullet_internalSetVector4d(PyObject* obVec, double vector[4]) { int i, len; PyObject* seq; @@ -294,7 +294,7 @@ static int pybullet_internalSetVector4d(PyObject* obVec, double vector[4]) { for (i = 0; i < len; i++) { - vector[i] = pybullet_internalGetFloatFromSequence(seq, i); + vector[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } Py_DECREF(seq); return 1; @@ -305,7 +305,7 @@ static int pybullet_internalSetVector4d(PyObject* obVec, double vector[4]) return 0; } -static int pybullet_internalGetVector3FromSequence(PyObject* seq, int index, double vec[3]) +static int pycram_bullet_internalGetVector3FromSequence(PyObject* seq, int index, double vec[3]) { int v = 0; PyObject* item; @@ -313,17 +313,17 @@ static int pybullet_internalGetVector3FromSequence(PyObject* seq, int index, dou if (PyList_Check(seq)) { item = PyList_GET_ITEM(seq, index); - pybullet_internalSetVectord(item, vec); + pycram_bullet_internalSetVectord(item, vec); } else { item = PyTuple_GET_ITEM(seq, index); - pybullet_internalSetVectord(item, vec); + pycram_bullet_internalSetVectord(item, vec); } return v; } -static int pybullet_internalGetVector4FromSequence(PyObject* seq, int index, double vec[4]) +static int pycram_bullet_internalGetVector4FromSequence(PyObject* seq, int index, double vec[4]) { int v = 0; PyObject* item; @@ -331,18 +331,18 @@ static int pybullet_internalGetVector4FromSequence(PyObject* seq, int index, dou if (PyList_Check(seq)) { item = PyList_GET_ITEM(seq, index); - pybullet_internalSetVector4d(item, vec); + pycram_bullet_internalSetVector4d(item, vec); } else { item = PyTuple_GET_ITEM(seq, index); - pybullet_internalSetVector4d(item, vec); + pycram_bullet_internalSetVector4d(item, vec); } return v; } // Step through one timestep of the simulation -static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_stepSimulation(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; static char* kwlist[] = {"physicsClientId", NULL}; @@ -401,7 +401,7 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec // perform collision detection: update aabbs, compute overlapping pairs and contact points -static PyObject* pybullet_performCollisionDetection(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_performCollisionDetection(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; static char* kwlist[] = {"physicsClientId", NULL}; @@ -434,7 +434,7 @@ static PyObject* pybullet_performCollisionDetection(PyObject* self, PyObject* ar } -static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_connectPhysicsServer(PyObject* self, PyObject* args, PyObject* keywds) { int freeIndex = -1; int method = eCONNECT_GUI; @@ -565,7 +565,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P #ifdef BT_ENABLE_CLSOCKET sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnectTCP(hostName, tcpPort); #else - PyErr_SetString(SpamError, "TCP is not enabled in this pybullet build"); + PyErr_SetString(SpamError, "TCP is not enabled in this pycram_bullet build"); return NULL; #endif//BT_ENABLE_CLSOCKET break; @@ -604,7 +604,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P #ifdef BT_ENABLE_GRPC sm = b3ConnectPhysicsGRPC(hostName, grpcPort); #else - PyErr_SetString(SpamError, "GRPC is not enabled in this pybullet build"); + PyErr_SetString(SpamError, "GRPC is not enabled in this pycram_bullet build"); #endif break; } @@ -619,7 +619,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P sm = b3ConnectPhysicsUDP(hostName, udpPort); #else - PyErr_SetString(SpamError, "UDP is not enabled in this pybullet build"); + PyErr_SetString(SpamError, "UDP is not enabled in this pycram_bullet build"); return NULL; #endif //BT_ENABLE_ENET @@ -631,7 +631,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P sm = b3ConnectPhysicsTCP(hostName, tcpPort); #else - PyErr_SetString(SpamError, "TCP is not enabled in this pybullet build"); + PyErr_SetString(SpamError, "TCP is not enabled in this pycram_bullet build"); return NULL; #endif //BT_ENABLE_CLSOCKET @@ -716,7 +716,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P return PyInt_FromLong(freeIndex); } -static PyObject* pybullet_disconnectPhysicsServer(PyObject* self, +static PyObject* pycram_bullet_disconnectPhysicsServer(PyObject* self, PyObject* args, PyObject* keywds) { @@ -748,7 +748,7 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self, } ///to avoid memory leaks, disconnect all physics servers explicitly -void b3pybulletExitFunc(void) +void b3pycram_bulletExitFunc(void) { int i; for (i = 0; i < MAX_PHYSICS_CLIENTS; i++) @@ -762,7 +762,7 @@ void b3pybulletExitFunc(void) } } -static PyObject* pybullet_isConnected(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_isConnected(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; int isConnected = 0; @@ -788,7 +788,7 @@ static PyObject* pybullet_isConnected(PyObject* self, PyObject* args, PyObject* return PyLong_FromLong(isConnected); } -static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getConnectionInfo(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; int isConnected = 0; @@ -815,7 +815,7 @@ static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyOb return val; } -static PyObject* pybullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject* keywds) { b3PhysicsClientHandle sm = 0; int physicsClientId = 0; @@ -849,7 +849,7 @@ static PyObject* pybullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject* return Py_None; } -static PyObject* pybullet_syncUserData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_syncUserData(PyObject* self, PyObject* args, PyObject* keywds) { b3PhysicsClientHandle sm = 0; int physicsClientId = 0; @@ -882,7 +882,7 @@ static PyObject* pybullet_syncUserData(PyObject* self, PyObject* args, PyObject* int i; for (i=0; i < len; ++i) { - b3AddBodyToSyncUserDataRequest(command, pybullet_internalGetIntFromSequence(seq, i)); + b3AddBodyToSyncUserDataRequest(command, pycram_bullet_internalGetIntFromSequence(seq, i)); } } else if (requestedBodyUniqueId != -1) @@ -903,7 +903,7 @@ static PyObject* pybullet_syncUserData(PyObject* self, PyObject* args, PyObject* return Py_None; } -static PyObject* pybullet_addUserData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_addUserData(PyObject* self, PyObject* args, PyObject* keywds) { b3PhysicsClientHandle sm = 0; int physicsClientId = 0; @@ -946,7 +946,7 @@ static PyObject* pybullet_addUserData(PyObject* self, PyObject* args, PyObject* return PyInt_FromLong(userDataId); } -static PyObject* pybullet_removeUserData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_removeUserData(PyObject* self, PyObject* args, PyObject* keywds) { b3PhysicsClientHandle sm = 0; int physicsClientId = 0; @@ -981,7 +981,7 @@ static PyObject* pybullet_removeUserData(PyObject* self, PyObject* args, PyObjec return Py_None; } -static PyObject* pybullet_getUserDataId(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getUserDataId(PyObject* self, PyObject* args, PyObject* keywds) { b3PhysicsClientHandle sm = 0; int physicsClientId = 0; @@ -1008,7 +1008,7 @@ static PyObject* pybullet_getUserDataId(PyObject* self, PyObject* args, PyObject return PyInt_FromLong(userDataId); } -static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getUserData(PyObject* self, PyObject* args, PyObject* keywds) { b3PhysicsClientHandle sm = 0; int physicsClientId = 0; @@ -1042,7 +1042,7 @@ static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject* return PyString_FromString((const char*)value.m_data1); } -static PyObject* pybullet_getNumUserData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getNumUserData(PyObject* self, PyObject* args, PyObject* keywds) { b3PhysicsClientHandle sm = 0; int physicsClientId = 0; @@ -1067,7 +1067,7 @@ static PyObject* pybullet_getNumUserData(PyObject* self, PyObject* args, PyObjec return PyInt_FromLong(numUserData); } -static PyObject* pybullet_getUserDataInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getUserDataInfo(PyObject* self, PyObject* args, PyObject* keywds) { b3PhysicsClientHandle sm = 0; int physicsClientId = 0; @@ -1110,7 +1110,7 @@ static PyObject* pybullet_getUserDataInfo(PyObject* self, PyObject* args, PyObje } } -static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_saveWorld(PyObject* self, PyObject* args, PyObject* keywds) { const char* worldFileName = ""; @@ -1149,7 +1149,7 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* ke return NULL; } -static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_loadBullet(PyObject* self, PyObject* args, PyObject* keywds) { const char* bulletFileName = ""; b3SharedMemoryStatusHandle statusHandle; @@ -1202,7 +1202,7 @@ static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args, PyObject* k return pylist; } -static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_saveBullet(PyObject* self, PyObject* args, PyObject* keywds) { const char* bulletFileName = ""; b3SharedMemoryStatusHandle statusHandle; @@ -1235,7 +1235,7 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* k return Py_None; } -static PyObject* pybullet_restoreState(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_restoreState(PyObject* self, PyObject* args, PyObject* keywds) { const char* fileName = ""; b3SharedMemoryStatusHandle statusHandle; @@ -1280,7 +1280,7 @@ static PyObject* pybullet_restoreState(PyObject* self, PyObject* args, PyObject* return Py_None; } -static PyObject* pybullet_saveState(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_saveState(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryStatusHandle statusHandle; int statusType; @@ -1315,7 +1315,7 @@ static PyObject* pybullet_saveState(PyObject* self, PyObject* args, PyObject* ke return PyInt_FromLong(stateId); } -static PyObject* pybullet_removeState(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_removeState(PyObject* self, PyObject* args, PyObject* keywds) { { int stateUniqueId = -1; @@ -1349,7 +1349,7 @@ static PyObject* pybullet_removeState(PyObject* self, PyObject* args, PyObject* return Py_None; } -static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds) { const char* mjcfFileName = ""; b3SharedMemoryStatusHandle statusHandle; @@ -1416,7 +1416,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key return pylist; } -static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; int linkIndex = -2; @@ -1494,13 +1494,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO if (anisotropicFrictionObj) { double anisotropicFriction[3]; - pybullet_internalSetVectord(anisotropicFrictionObj, anisotropicFriction); + pycram_bullet_internalSetVectord(anisotropicFrictionObj, anisotropicFriction); b3ChangeDynamicsInfoSetAnisotropicFriction(command, bodyUniqueId, linkIndex, anisotropicFriction); } if (localInertiaDiagonalObj) { double localInertiaDiagonal[3]; - pybullet_internalSetVectord(localInertiaDiagonalObj, localInertiaDiagonal); + pycram_bullet_internalSetVectord(localInertiaDiagonalObj, localInertiaDiagonal); b3ChangeDynamicsInfoSetLocalInertiaDiagonal(command, bodyUniqueId, linkIndex, localInertiaDiagonal); } if (lateralFriction >= 0) @@ -1570,7 +1570,7 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO return Py_None; } -static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds) { { int bodyUniqueId = -1; @@ -1659,7 +1659,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje return NULL; } -static PyObject* pybullet_getPhysicsEngineParameters(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getPhysicsEngineParameters(PyObject* self, PyObject* args, PyObject* keywds) { b3PhysicsClientHandle sm = 0; PyObject* val = 0; @@ -1708,7 +1708,7 @@ static PyObject* pybullet_getPhysicsEngineParameters(PyObject* self, PyObject* a //val = Py_BuildValue("{s:i,s:i}","isConnected", isConnected, "connectionMethod", method); } -static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject* keywds) { double fixedTimeStep = -1; int numSolverIterations = -1; @@ -1920,7 +1920,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar // to position (0,0,1) with orientation(0,0,0,1) // els(x,y,z) or // loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w) -static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_loadURDF(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; int flags = 0; @@ -1980,7 +1980,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key { if (basePosObj) { - if (!pybullet_internalSetVectord(basePosObj, basePos)) + if (!pycram_bullet_internalSetVectord(basePosObj, basePos)) { PyErr_SetString(SpamError, "Cannot convert basePosition."); return NULL; @@ -1991,7 +1991,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key } if (baseOrnObj) { - if (!pybullet_internalSetVector4d(baseOrnObj, baseOrn)) + if (!pycram_bullet_internalSetVector4d(baseOrnObj, baseOrn)) { PyErr_SetString(SpamError, "Cannot convert baseOrientation."); return NULL; @@ -2058,7 +2058,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key return PyLong_FromLong(bodyUniqueId); } -static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_loadSDF(PyObject* self, PyObject* args, PyObject* keywds) { const char* sdfFileName = ""; int numBodies = 0; @@ -2130,7 +2130,7 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw // Load a softbody from an obj file -static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; int flags = 0; @@ -2198,7 +2198,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* { if (basePosObj) { - if (!pybullet_internalSetVectord(basePosObj, startPos)) + if (!pycram_bullet_internalSetVectord(basePosObj, startPos)) { PyErr_SetString(SpamError, "Cannot convert basePosition."); return NULL; @@ -2206,7 +2206,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* } if (baseOrnObj) { - if (!pybullet_internalSetVector4d(baseOrnObj, startOrn)) + if (!pycram_bullet_internalSetVector4d(baseOrnObj, startOrn)) { PyErr_SetString(SpamError, "Cannot convert baseOrientation."); return NULL; @@ -2277,7 +2277,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* return PyLong_FromLong(bodyUniqueId); } -static PyObject* pybullet_createSoftBodyAnchor(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_createSoftBodyAnchor(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; int softBodyUniqueId = -1; @@ -2309,7 +2309,7 @@ static PyObject* pybullet_createSoftBodyAnchor(PyObject* self, PyObject* args, P return NULL; } - pybullet_internalSetVectord(bodyFramePositionObj, bodyFramePosition); + pycram_bullet_internalSetVectord(bodyFramePositionObj, bodyFramePosition); commandHandle = b3InitCreateSoftBodyAnchorConstraintCommand(sm, softBodyUniqueId, nodeIndex, bodyUniqueId, linkIndex, bodyFramePosition); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); @@ -2329,7 +2329,7 @@ static PyObject* pybullet_createSoftBodyAnchor(PyObject* self, PyObject* args, P #endif // Reset the simulation to remove all loaded objects -static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_resetSimulation(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; int flags = 0; @@ -2359,8 +2359,8 @@ static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObje return Py_None; } -//this method is obsolete, use pybullet_setJointMotorControl2 instead -static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) +//this method is obsolete, use pycram_bullet_setJointMotorControl2 instead +static PyObject* pycram_bullet_setJointMotorControl(PyObject* self, PyObject* args) { int size; int bodyUniqueId, jointIndex, controlMode; @@ -2570,7 +2570,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) return NULL; } -static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setJointMotorControlArray(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId, controlMode; PyObject* jointIndicesObj = 0; @@ -2647,7 +2647,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar int i; for (i = 0; i < numControlledDofs; i++) { - int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i); + int jointIndex = pycram_bullet_internalGetIntFromSequence(jointIndicesSeq, i); if ((jointIndex >= numJoints) || (jointIndex < 0)) { Py_DECREF(jointIndicesSeq); @@ -2777,30 +2777,30 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar if (targetVelocitiesSeq) { - targetVelocity = pybullet_internalGetFloatFromSequence(targetVelocitiesSeq, i); + targetVelocity = pycram_bullet_internalGetFloatFromSequence(targetVelocitiesSeq, i); } if (targetPositionsSeq) { - targetPosition = pybullet_internalGetFloatFromSequence(targetPositionsSeq, i); + targetPosition = pycram_bullet_internalGetFloatFromSequence(targetPositionsSeq, i); } if (forcesSeq) { - force = pybullet_internalGetFloatFromSequence(forcesSeq, i); + force = pycram_bullet_internalGetFloatFromSequence(forcesSeq, i); } if (kpsSeq) { - kp = pybullet_internalGetFloatFromSequence(kpsSeq, i); + kp = pycram_bullet_internalGetFloatFromSequence(kpsSeq, i); } if (kdsSeq) { - kd = pybullet_internalGetFloatFromSequence(kdsSeq, i); + kd = pycram_bullet_internalGetFloatFromSequence(kdsSeq, i); } - jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i); + jointIndex = pycram_bullet_internalGetFloatFromSequence(jointIndicesSeq, i); b3GetJointInfo(sm, bodyUniqueId, jointIndex, &info); switch (controlMode) @@ -2869,7 +2869,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar -static PyObject* pybullet_setJointMotorControlMultiDofArray(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setJointMotorControlMultiDofArray(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId, controlMode; @@ -2997,7 +2997,7 @@ static PyObject* pybullet_setJointMotorControlMultiDofArray(PyObject* self, PyOb double kd = 1.0; double maxVelocity = -1; int numTargetPositions = -1; - int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, j); + int jointIndex = pycram_bullet_internalGetIntFromSequence(jointIndicesSeq, j); if ((jointIndex >= numJoints) || (jointIndex < 0)) { Py_DECREF(jointIndicesSeq); @@ -3019,11 +3019,11 @@ static PyObject* pybullet_setJointMotorControlMultiDofArray(PyObject* self, PyOb } if (numKps > 0) { - kp = pybullet_internalGetFloatFromSequence(kpsSeq, j); + kp = pycram_bullet_internalGetFloatFromSequence(kpsSeq, j); } if (numKds>0) { - kd = pybullet_internalGetFloatFromSequence(kdsSeq, j); + kd = pycram_bullet_internalGetFloatFromSequence(kdsSeq, j); } if (targetPositionObj) @@ -3045,7 +3045,7 @@ static PyObject* pybullet_setJointMotorControlMultiDofArray(PyObject* self, PyOb { for (i = 0; i < targetPositionSize; i++) { - targetPositionArray[i] = pybullet_internalGetFloatFromSequence(targetPositionSeq, i); + targetPositionArray[i] = pycram_bullet_internalGetFloatFromSequence(targetPositionSeq, i); } Py_DECREF(targetPositionSeq); targetPositionSeq = 0; @@ -3072,7 +3072,7 @@ static PyObject* pybullet_setJointMotorControlMultiDofArray(PyObject* self, PyOb { for (i = 0; i < targetVelocitySize; i++) { - targetVelocityArray[i] = pybullet_internalGetFloatFromSequence(targetVelocitySeq, i); + targetVelocityArray[i] = pycram_bullet_internalGetFloatFromSequence(targetVelocitySeq, i); } Py_DECREF(targetVelocitySeq); targetVelocitySeq = 0; @@ -3100,7 +3100,7 @@ static PyObject* pybullet_setJointMotorControlMultiDofArray(PyObject* self, PyOb { for (i = 0; i < targetForceSize; i++) { - targetForceArray[i] = pybullet_internalGetFloatFromSequence(targetForceSeq, i); + targetForceArray[i] = pycram_bullet_internalGetFloatFromSequence(targetForceSeq, i); } Py_DECREF(targetForceSeq); targetForceSeq = 0; @@ -3260,7 +3260,7 @@ static PyObject* pybullet_setJointMotorControlMultiDofArray(PyObject* self, PyOb } -static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setJointMotorControlMultiDof(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId, jointIndex, controlMode; @@ -3324,7 +3324,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* { for (i = 0; i < targetPositionSize; i++) { - targetPositionArray[i] = pybullet_internalGetFloatFromSequence(targetPositionSeq, i); + targetPositionArray[i] = pycram_bullet_internalGetFloatFromSequence(targetPositionSeq, i); } Py_DECREF(targetPositionSeq); } @@ -3349,7 +3349,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* { for (i = 0; i < targetVelocitySize; i++) { - targetVelocityArray[i] = pybullet_internalGetFloatFromSequence(targetVelocitySeq, i); + targetVelocityArray[i] = pycram_bullet_internalGetFloatFromSequence(targetVelocitySeq, i); } Py_DECREF(targetVelocitySeq); } @@ -3374,7 +3374,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* { for (i = 0; i < targetForceSize; i++) { - targetForceArray[i] = pybullet_internalGetFloatFromSequence(targetForceSeq, i); + targetForceArray[i] = pycram_bullet_internalGetFloatFromSequence(targetForceSeq, i); } Py_DECREF(targetForceSeq); } @@ -3399,7 +3399,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* { for (i = 0; i < kpSize; i++) { - kpArray[i] = pybullet_internalGetFloatFromSequence(kpSeq, i); + kpArray[i] = pycram_bullet_internalGetFloatFromSequence(kpSeq, i); } Py_DECREF(kpSeq); } @@ -3424,7 +3424,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* { for (i = 0; i < kdSize; i++) { - kdArray[i] = pybullet_internalGetFloatFromSequence(kdSeq, i); + kdArray[i] = pycram_bullet_internalGetFloatFromSequence(kdSeq, i); } Py_DECREF(kdSeq); } @@ -3449,7 +3449,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* { for (i = 0; i < dampingSize; i++) { - dampingArray[i] = pybullet_internalGetFloatFromSequence(dampingSeq, i); + dampingArray[i] = pycram_bullet_internalGetFloatFromSequence(dampingSeq, i); } Py_DECREF(dampingSeq); } @@ -3586,7 +3586,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* } -static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId, jointIndex, controlMode; @@ -3693,7 +3693,7 @@ static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, // return NULL; } -static PyObject* pybullet_setRealTimeSimulation(PyObject* self, +static PyObject* pycram_bullet_setRealTimeSimulation(PyObject* self, PyObject* args, PyObject* keywds) { @@ -3729,7 +3729,7 @@ static PyObject* pybullet_setRealTimeSimulation(PyObject* self, return Py_None; } -static PyObject* pybullet_setInternalSimFlags(PyObject* self, +static PyObject* pycram_bullet_setInternalSimFlags(PyObject* self, PyObject* args, PyObject* keywds) { int flags = 0; @@ -3765,7 +3765,7 @@ static PyObject* pybullet_setInternalSimFlags(PyObject* self, } // Set the gravity of the world with (x, y, z) arguments -static PyObject* pybullet_setGravity(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setGravity(PyObject* self, PyObject* args, PyObject* keywds) { { double gravX = 0.0; @@ -3801,7 +3801,7 @@ static PyObject* pybullet_setGravity(PyObject* self, PyObject* args, PyObject* k return Py_None; } -static PyObject* pybullet_setTimeStep(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setTimeStep(PyObject* self, PyObject* args, PyObject* keywds) { double timeStep = 0.001; int ret; @@ -3832,7 +3832,7 @@ static PyObject* pybullet_setTimeStep(PyObject* self, PyObject* args, PyObject* } static PyObject* -pybullet_setDefaultContactERP(PyObject* self, PyObject* args, PyObject* keywds) +pycram_bullet_setDefaultContactERP(PyObject* self, PyObject* args, PyObject* keywds) { double defaultContactERP = 0.005; int physicsClientId = 0; @@ -3864,7 +3864,7 @@ pybullet_setDefaultContactERP(PyObject* self, PyObject* args, PyObject* keywds) return Py_None; } -static int pybullet_internalGetBaseVelocity( +static int pycram_bullet_internalGetBaseVelocity( int bodyUniqueId, double baseLinearVelocity[3], double baseAngularVelocity[3], b3PhysicsClientHandle sm) { baseLinearVelocity[0] = 0.; @@ -3925,7 +3925,7 @@ static int pybullet_internalGetBaseVelocity( // Internal function used to get the base position and orientation // Orientation is returned in quaternions -static int pybullet_internalGetBasePositionAndOrientation( +static int pycram_bullet_internalGetBasePositionAndOrientation( int bodyUniqueId, double basePosition[3], double baseOrientation[4], b3PhysicsClientHandle sm) { basePosition[0] = 0.; @@ -3986,7 +3986,7 @@ static int pybullet_internalGetBasePositionAndOrientation( return 1; } -static PyObject* pybullet_getAABB(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getAABB(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; int linkIndex = -1; @@ -4071,7 +4071,7 @@ static PyObject* pybullet_getAABB(PyObject* self, PyObject* args, PyObject* keyw // values for the base link of your object // Object is retrieved based on body index, which is the order // the object was loaded into the simulation (0-based) -static PyObject* pybullet_getBasePositionAndOrientation(PyObject* self, +static PyObject* pycram_bullet_getBasePositionAndOrientation(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; @@ -4094,7 +4094,7 @@ static PyObject* pybullet_getBasePositionAndOrientation(PyObject* self, return NULL; } - if (0 == pybullet_internalGetBasePositionAndOrientation( + if (0 == pycram_bullet_internalGetBasePositionAndOrientation( bodyUniqueId, basePosition, baseOrientation, sm)) { PyErr_SetString(SpamError, @@ -4135,7 +4135,7 @@ static PyObject* pybullet_getBasePositionAndOrientation(PyObject* self, } } -static PyObject* pybullet_getBaseVelocity(PyObject* self, +static PyObject* pycram_bullet_getBaseVelocity(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; @@ -4158,7 +4158,7 @@ static PyObject* pybullet_getBaseVelocity(PyObject* self, return NULL; } - if (0 == pybullet_internalGetBaseVelocity( + if (0 == pycram_bullet_internalGetBaseVelocity( bodyUniqueId, baseLinearVelocity, baseAngularVelocity, sm)) { PyErr_SetString(SpamError, @@ -4198,7 +4198,7 @@ static PyObject* pybullet_getBaseVelocity(PyObject* self, return pylist; } } -static PyObject* pybullet_getNumBodies(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getNumBodies(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -4227,7 +4227,7 @@ static PyObject* pybullet_getNumBodies(PyObject* self, PyObject* args, PyObject* } -static PyObject* pybullet_computeDofCount(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_computeDofCount(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; int bodyUniqueId = -1; @@ -4257,7 +4257,7 @@ static PyObject* pybullet_computeDofCount(PyObject* self, PyObject* args, PyObje } -static PyObject* pybullet_getBodyUniqueId(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getBodyUniqueId(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; int serialIndex = -1; @@ -4287,7 +4287,7 @@ static PyObject* pybullet_getBodyUniqueId(PyObject* self, PyObject* args, PyObje } } -static PyObject* pybullet_removeCollisionShape(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_removeCollisionShape(PyObject* self, PyObject* args, PyObject* keywds) { { int collisionShapeId = -1; @@ -4321,7 +4321,7 @@ static PyObject* pybullet_removeCollisionShape(PyObject* self, PyObject* args, P return Py_None; } -static PyObject* pybullet_removeBody(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_removeBody(PyObject* self, PyObject* args, PyObject* keywds) { { int bodyUniqueId = -1; @@ -4355,7 +4355,7 @@ static PyObject* pybullet_removeBody(PyObject* self, PyObject* args, PyObject* k return Py_None; } -static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getBodyInfo(PyObject* self, PyObject* args, PyObject* keywds) { { int bodyUniqueId = -1; @@ -4389,7 +4389,7 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject* return NULL; } -static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getConstraintInfo(PyObject* self, PyObject* args, PyObject* keywds) { { int constraintUniqueId = -1; @@ -4473,7 +4473,7 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb return NULL; } -static PyObject* pybullet_getConstraintState(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getConstraintState(PyObject* self, PyObject* args, PyObject* keywds) { { int constraintUniqueId = -1; @@ -4523,7 +4523,7 @@ static PyObject* pybullet_getConstraintState(PyObject* self, PyObject* args, PyO return NULL; } -static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getConstraintUniqueId(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; int serialIndex = -1; @@ -4553,7 +4553,7 @@ static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args, } } -static PyObject* pybullet_getNumConstraints(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getNumConstraints(PyObject* self, PyObject* args, PyObject* keywds) { int numConstraints = 0; int physicsClientId = 0; @@ -4582,7 +4582,7 @@ static PyObject* pybullet_getNumConstraints(PyObject* self, PyObject* args, PyOb // Return the number of joints in an object based on // body index; body index is based on order of sequence // the object is loaded into simulation -static PyObject* pybullet_getAPIVersion(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getAPIVersion(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -4602,7 +4602,7 @@ static PyObject* pybullet_getAPIVersion(PyObject* self, PyObject* args, PyObject // Return the number of joints in an object based on // body index; body index is based on order of sequence // the object is loaded into simulation -static PyObject* pybullet_getNumJoints(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getNumJoints(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; int numJoints = 0; @@ -4630,7 +4630,7 @@ static PyObject* pybullet_getNumJoints(PyObject* self, PyObject* args, PyObject* } // Initalize all joint positions given a list of values -static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_resetJointState(PyObject* self, PyObject* args, PyObject* keywds) { { int bodyUniqueId; @@ -4682,7 +4682,7 @@ static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args, PyObje // Initalize all joint positions given a list of values -static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_resetJointStatesMultiDof(PyObject* self, PyObject* args, PyObject* keywds) { { b3PhysicsClientHandle sm = 0; @@ -4760,7 +4760,7 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg PyObject* targetPositionObj = 0; PyObject* targetVelocityObj = 0; - int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i); + int jointIndex = pycram_bullet_internalGetIntFromSequence(jointIndicesSeq, i); if ((jointIndex >= numJoints) || (jointIndex < 0)) { if (targetPositionsSeq) @@ -4805,7 +4805,7 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg { for (i = 0; i < targetPositionSize; i++) { - targetPositionArray[i] = pybullet_internalGetFloatFromSequence(targetPositionSeq, i); + targetPositionArray[i] = pycram_bullet_internalGetFloatFromSequence(targetPositionSeq, i); } Py_DECREF(targetPositionSeq); } @@ -4830,7 +4830,7 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg { for (i = 0; i < targetVelocitySize; i++) { - targetVelocityArray[i] = pybullet_internalGetFloatFromSequence(targetVelocitySeq, i); + targetVelocityArray[i] = pycram_bullet_internalGetFloatFromSequence(targetVelocitySeq, i); } Py_DECREF(targetVelocitySeq); } @@ -4874,7 +4874,7 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg } // Initalize all joint positions given a list of values -static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_resetJointStateMultiDof(PyObject* self, PyObject* args, PyObject* keywds) { { b3PhysicsClientHandle sm = 0; @@ -4919,7 +4919,7 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args { for (i = 0; i < targetPositionSize; i++) { - targetPositionArray[i] = pybullet_internalGetFloatFromSequence(targetPositionSeq, i); + targetPositionArray[i] = pycram_bullet_internalGetFloatFromSequence(targetPositionSeq, i); } Py_DECREF(targetPositionSeq); } @@ -4944,7 +4944,7 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args { for (i = 0; i < targetVelocitySize; i++) { - targetVelocityArray[i] = pybullet_internalGetFloatFromSequence(targetVelocitySeq, i); + targetVelocityArray[i] = pycram_bullet_internalGetFloatFromSequence(targetVelocitySeq, i); } Py_DECREF(targetVelocitySeq); } @@ -4985,7 +4985,7 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args return Py_None; } -static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_resetBaseVelocity(PyObject* self, PyObject* args, PyObject* keywds) { static char* kwlist[] = {"objectUniqueId", "linearVelocity", "angularVelocity", "physicsClientId", NULL}; @@ -5019,13 +5019,13 @@ static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyOb if (linVelObj) { - pybullet_internalSetVectord(linVelObj, linVel); + pycram_bullet_internalSetVectord(linVelObj, linVel); b3CreatePoseCommandSetBaseLinearVelocity(commandHandle, linVel); } if (angVelObj) { - pybullet_internalSetVectord(angVelObj, angVel); + pycram_bullet_internalSetVectord(angVelObj, angVel); b3CreatePoseCommandSetBaseAngularVelocity(commandHandle, angVel); } @@ -5045,7 +5045,7 @@ static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyOb // Reset the position and orientation of the base/root link, position [x,y,z] // and orientation quaternion [x,y,z,w] -static PyObject* pybullet_resetBasePositionAndOrientation(PyObject* self, +static PyObject* pycram_bullet_resetBasePositionAndOrientation(PyObject* self, PyObject* args, PyObject* keywds) { { @@ -5082,7 +5082,7 @@ static PyObject* pybullet_resetBasePositionAndOrientation(PyObject* self, { for (i = 0; i < 3; i++) { - pos[i] = pybullet_internalGetFloatFromSequence(seq, i); + pos[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } } else @@ -5103,7 +5103,7 @@ static PyObject* pybullet_resetBasePositionAndOrientation(PyObject* self, { for (i = 0; i < 4; i++) { - orn[i] = pybullet_internalGetFloatFromSequence(seq, i); + orn[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } } else @@ -5130,7 +5130,7 @@ static PyObject* pybullet_resetBasePositionAndOrientation(PyObject* self, return Py_None; } -static PyObject* pybullet_changeScaling(PyObject* self, +static PyObject* pycram_bullet_changeScaling(PyObject* self, PyObject* args, PyObject* keywds) { { @@ -5166,7 +5166,7 @@ static PyObject* pybullet_changeScaling(PyObject* self, { for (i = 0; i < 3; i++) { - scaling[i] = pybullet_internalGetFloatFromSequence(seq, i); + scaling[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } } else @@ -5205,7 +5205,7 @@ static PyObject* pybullet_changeScaling(PyObject* self, // [int, str, int, int, int, int, float, float] // // TODO(hellojas): get joint positions for a body -static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getJointInfo(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* pyListJointInfo; @@ -5336,7 +5336,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject* // TODO(hellojas): check accuracy of position and velocity // TODO(hellojas): check force torque values -static PyObject* pybullet_getJointState(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getJointState(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* pyListJointForceTorque; PyObject* pyListJointState; @@ -5427,7 +5427,7 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args, PyObject return Py_None; } -static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getJointStateMultiDof(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* pyListJointForceTorque; PyObject* pyListJointState; @@ -5537,7 +5537,7 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args, return Py_None; } -static PyObject* pybullet_getJointStatesMultiDof(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getJointStatesMultiDof(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* pyListPosition; PyObject* pyListVelocity; @@ -5620,7 +5620,7 @@ static PyObject* pybullet_getJointStatesMultiDof(PyObject* self, PyObject* args, { PyObject* pyListJointForceTorque; PyObject* pyListJointState; - int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, jnt); + int jointIndex = pycram_bullet_internalGetFloatFromSequence(jointIndicesSeq, jnt); pyListJointState = PyTuple_New(sensorStateSize); pyListJointForceTorque = PyTuple_New(forceTorqueSize); @@ -5679,7 +5679,7 @@ static PyObject* pybullet_getJointStatesMultiDof(PyObject* self, PyObject* args, } -static PyObject* pybullet_getJointStates(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getJointStates(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* pyListJointForceTorque; PyObject* pyListJointState; @@ -5755,7 +5755,7 @@ static PyObject* pybullet_getJointStates(PyObject* self, PyObject* args, PyObjec for (i = 0; i < numRequestedJoints; i++) { - int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i); + int jointIndex = pycram_bullet_internalGetFloatFromSequence(jointIndicesSeq, i); if ((jointIndex >= numJoints) || (jointIndex < 0)) { Py_DECREF(jointIndicesSeq); @@ -5800,7 +5800,7 @@ static PyObject* pybullet_getJointStates(PyObject* self, PyObject* args, PyObjec Py_INCREF(Py_None); return Py_None; } -static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getLinkState(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* pyLinkState; PyObject* pyLinkStateWorldPosition; @@ -5958,7 +5958,7 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject* return Py_None; } -static PyObject* pybullet_getLinkStates(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getLinkStates(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* pyLinkState; PyObject* pyLinkStateWorldPosition; @@ -6046,7 +6046,7 @@ static PyObject* pybullet_getLinkStates(PyObject* self, PyObject* args, PyObject resultListLinkState = PyTuple_New(numRequestedLinks); for (link=0;link= 0)) { if (b3GetLinkState(sm, status_handle, linkIndex, &linkState)) @@ -6143,7 +6143,7 @@ static PyObject* pybullet_getLinkStates(PyObject* self, PyObject* args, PyObject return Py_None; } -static PyObject* pybullet_readUserDebugParameter(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_readUserDebugParameter(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -6185,7 +6185,7 @@ static PyObject* pybullet_readUserDebugParameter(PyObject* self, PyObject* args, return NULL; } -static PyObject* pybullet_addUserDebugParameter(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_addUserDebugParameter(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -6227,7 +6227,7 @@ static PyObject* pybullet_addUserDebugParameter(PyObject* self, PyObject* args, return NULL; } -static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_addUserDebugText(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -6265,7 +6265,7 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj return NULL; } - res = pybullet_internalSetVectord(textPositionObj, posXYZ); + res = pycram_bullet_internalSetVectord(textPositionObj, posXYZ); if (!res) { PyErr_SetString(SpamError, "Error converting textPositionObj[3]"); @@ -6274,7 +6274,7 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj if (textColorRGBObj) { - res = pybullet_internalSetVectord(textColorRGBObj, colorRGB); + res = pycram_bullet_internalSetVectord(textColorRGBObj, colorRGB); if (!res) { PyErr_SetString(SpamError, "Error converting textColorRGBObj[3]"); @@ -6290,7 +6290,7 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj } if (textOrientationObj) { - res = pybullet_internalSetVector4d(textOrientationObj, textOrientation); + res = pycram_bullet_internalSetVector4d(textOrientationObj, textOrientation); if (!res) { PyErr_SetString(SpamError, "Error converting textOrientation[4]"); @@ -6321,7 +6321,7 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj } } -static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_addUserDebugLine(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -6356,14 +6356,14 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj return NULL; } - res = pybullet_internalSetVectord(lineFromObj, fromXYZ); + res = pycram_bullet_internalSetVectord(lineFromObj, fromXYZ); if (!res) { PyErr_SetString(SpamError, "Error converting lineFrom[3]"); return NULL; } - res = pybullet_internalSetVectord(lineToObj, toXYZ); + res = pycram_bullet_internalSetVectord(lineToObj, toXYZ); if (!res) { PyErr_SetString(SpamError, "Error converting lineTo[3]"); @@ -6371,7 +6371,7 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj } if (lineColorRGBObj) { - res = pybullet_internalSetVectord(lineColorRGBObj, colorRGB); + res = pycram_bullet_internalSetVectord(lineColorRGBObj, colorRGB); } commandHandle = b3InitUserDebugDrawAddLine3D(sm, fromXYZ, toXYZ, colorRGB, lineWidth, lifeTime); @@ -6421,7 +6421,7 @@ static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVe { PyObject* vertexObj = PySequence_GetItem(seqVerticesObj, i); double vertex[3]; - if (pybullet_internalSetVectord(vertexObj, vertex)) + if (pycram_bullet_internalSetVectord(vertexObj, vertex)) { if (vertices) { @@ -6438,7 +6438,7 @@ static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVe return numVerticesOut; } -static PyObject* pybullet_addUserDebugPoints(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_addUserDebugPoints(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -6511,7 +6511,7 @@ static PyObject* pybullet_addUserDebugPoints(PyObject* self, PyObject* args, PyO } } -static PyObject* pybullet_removeUserDebugItem(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_removeUserDebugItem(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -6543,7 +6543,7 @@ static PyObject* pybullet_removeUserDebugItem(PyObject* self, PyObject* args, Py return Py_None; } -static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_removeAllUserDebugItems(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -6573,7 +6573,7 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args } -static PyObject* pybullet_removeAllUserParameters(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_removeAllUserParameters(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -6602,7 +6602,7 @@ static PyObject* pybullet_removeAllUserParameters(PyObject* self, PyObject* args return Py_None; } -static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_startStateLogging(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryStatusHandle statusHandle; int statusType; @@ -6647,7 +6647,7 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb int i; for (i = 0; i < len; i++) { - int objectUid = pybullet_internalGetFloatFromSequence(seq, i); + int objectUid = pycram_bullet_internalGetFloatFromSequence(seq, i); b3StateLoggingAddLoggingObjectUniqueId(commandHandle, objectUid); } Py_DECREF(seq); @@ -6700,7 +6700,7 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb return Py_None; } -static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_submitProfileTiming(PyObject* self, PyObject* args, PyObject* keywds) { // b3SharedMemoryStatusHandle statusHandle; // int statusType; @@ -6736,7 +6736,7 @@ static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, Py return Py_None; } -static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_stopStateLogging(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryStatusHandle statusHandle; int statusType; @@ -6768,7 +6768,7 @@ static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObj return Py_None; } -static PyObject* pybullet_setAdditionalSearchPath(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setAdditionalSearchPath(PyObject* self, PyObject* args, PyObject* keywds) { static char* kwlist[] = {"path", "physicsClientId", NULL}; char* path = 0; @@ -6798,7 +6798,7 @@ static PyObject* pybullet_setAdditionalSearchPath(PyObject* self, PyObject* args } #ifdef BT_ENABLE_VHACD -static PyObject* pybullet_vhacd(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_vhacd(PyObject* self, PyObject* args, PyObject* keywds) { char* fileNameIn = 0; char* fileNameOut = 0; @@ -6846,7 +6846,7 @@ static PyObject* pybullet_vhacd(PyObject* self, PyObject* args, PyObject* keywds #endif//BT_ENABLE_VHACD -static PyObject* pybullet_setTimeOut(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setTimeOut(PyObject* self, PyObject* args, PyObject* keywds) { static char* kwlist[] = {"timeOutInSeconds", "physicsClientId", NULL}; double timeOutInSeconds = -1; @@ -6871,7 +6871,7 @@ static PyObject* pybullet_setTimeOut(PyObject* self, PyObject* args, PyObject* k return Py_None; } -static PyObject* pybullet_rayTestObsolete(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_rayTestObsolete(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -6897,8 +6897,8 @@ static PyObject* pybullet_rayTestObsolete(PyObject* self, PyObject* args, PyObje return NULL; } - pybullet_internalSetVectord(rayFromObj, from); - pybullet_internalSetVectord(rayToObj, to); + pycram_bullet_internalSetVectord(rayFromObj, from); + pycram_bullet_internalSetVectord(rayToObj, to); commandHandle = b3CreateRaycastCommandInit(sm, from[0], from[1], from[2], @@ -6965,7 +6965,7 @@ static PyObject* pybullet_rayTestObsolete(PyObject* self, PyObject* args, PyObje return Py_None; } -static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_rayTestBatch(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -7067,8 +7067,8 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject* double rayFromWorld[3]; double rayToWorld[3]; - if ((pybullet_internalSetVectord(rayFromObj, rayFromWorld)) && - (pybullet_internalSetVectord(rayToObj, rayToWorld))) + if ((pycram_bullet_internalSetVectord(rayFromObj, rayFromWorld)) && + (pycram_bullet_internalSetVectord(rayToObj, rayToWorld))) { //todo: better to upload all rays at once //b3RaycastBatchAddRay(commandHandle, rayFromWorld, rayToWorld); @@ -7174,7 +7174,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject* return Py_None; } -static PyObject* pybullet_getMatrixFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getMatrixFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* quatObj; double quat[4]; @@ -7188,7 +7188,7 @@ static PyObject* pybullet_getMatrixFromQuaternion(PyObject* self, PyObject* args if (quatObj) { - if (pybullet_internalSetVector4d(quatObj, quat)) + if (pycram_bullet_internalSetVector4d(quatObj, quat)) { ///see btMatrix3x3::setRotation int i; @@ -7214,7 +7214,7 @@ static PyObject* pybullet_getMatrixFromQuaternion(PyObject* self, PyObject* args return NULL; }; -static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setVRCameraState(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -7242,11 +7242,11 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj commandHandle = b3SetVRCameraStateCommandInit(sm); - if (pybullet_internalSetVectord(rootPosObj, rootPos)) + if (pycram_bullet_internalSetVectord(rootPosObj, rootPos)) { b3SetVRCameraRootPosition(commandHandle, rootPos); } - if (pybullet_internalSetVector4d(rootOrnObj, rootOrn)) + if (pycram_bullet_internalSetVector4d(rootOrnObj, rootOrn)) { b3SetVRCameraRootOrientation(commandHandle, rootOrn); } @@ -7268,7 +7268,7 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj return Py_None; } -static PyObject* pybullet_getKeyboardEvents(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getKeyboardEvents(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; int physicsClientId = 0; @@ -7305,7 +7305,7 @@ static PyObject* pybullet_getKeyboardEvents(PyObject* self, PyObject* args, PyOb return keyEventsObj; } -static PyObject* pybullet_getMouseEvents(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getMouseEvents(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; int physicsClientId = 0; @@ -7346,7 +7346,7 @@ static PyObject* pybullet_getMouseEvents(PyObject* self, PyObject* args, PyObjec return mouseEventsObj; } -static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getVREvents(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -7440,7 +7440,7 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject* return Py_None; } -static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getDebugVisualizerCamera(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -7553,7 +7553,7 @@ static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* arg return NULL; } -static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_configureDebugVisualizer(PyObject* self, PyObject* args, PyObject* keywds) { int flag = -1; int enable = -1; @@ -7587,7 +7587,7 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg if (pyLightPosition) { float lightPosition[3]; - if (pybullet_internalSetVector(pyLightPosition, lightPosition)) + if (pycram_bullet_internalSetVector(pyLightPosition, lightPosition)) { b3ConfigureOpenGLVisualizerSetLightPosition(commandHandle, lightPosition); } @@ -7595,7 +7595,7 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg if (pyRgbBackground) { float rgbBackground[3]; - if (pybullet_internalSetVector(pyRgbBackground, rgbBackground)) + if (pycram_bullet_internalSetVector(pyRgbBackground, rgbBackground)) { b3ConfigureOpenGLVisualizerSetLightRgbBackground(commandHandle, rgbBackground); } @@ -7625,7 +7625,7 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg return Py_None; } -static PyObject* pybullet_resetDebugVisualizerCamera(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_resetDebugVisualizerCamera(PyObject* self, PyObject* args, PyObject* keywds) { float cameraDistance = -1; float cameraYaw = 35; @@ -7652,7 +7652,7 @@ static PyObject* pybullet_resetDebugVisualizerCamera(PyObject* self, PyObject* a if ((cameraDistance >= 0)) { float cameraTargetPosition[3]; - if (pybullet_internalSetVector(cameraTargetPosObj, cameraTargetPosition)) + if (pycram_bullet_internalSetVector(cameraTargetPosObj, cameraTargetPosition)) { b3ConfigureOpenGLVisualizerSetViewMatrix(commandHandle, cameraDistance, cameraPitch, cameraYaw, cameraTargetPosition); } @@ -7663,7 +7663,7 @@ static PyObject* pybullet_resetDebugVisualizerCamera(PyObject* self, PyObject* a return Py_None; } -static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* objectColorRGBObj = 0; double objectColorRGB[3]; @@ -7687,7 +7687,7 @@ static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, Py if (objectColorRGBObj) { - if (pybullet_internalSetVectord(objectColorRGBObj, objectColorRGB)) + if (pycram_bullet_internalSetVectord(objectColorRGBObj, objectColorRGB)) { b3SharedMemoryCommandHandle commandHandle = b3InitDebugDrawingCommand(sm); b3SetDebugObjectColor(commandHandle, objectUniqueId, linkIndex, objectColorRGB); @@ -7704,7 +7704,7 @@ static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, Py return Py_None; } -static PyObject* pybullet_getCollisionShapeData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getCollisionShapeData(PyObject* self, PyObject* args, PyObject* keywds) { int objectUniqueId = -1; b3SharedMemoryCommandHandle commandHandle; @@ -7803,7 +7803,7 @@ static PyObject* pybullet_getCollisionShapeData(PyObject* self, PyObject* args, return Py_None; } -static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getVisualShapeData(PyObject* self, PyObject* args, PyObject* keywds) { int objectUniqueId = -1; b3SharedMemoryCommandHandle commandHandle; @@ -7922,7 +7922,7 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO return Py_None; } -static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_changeVisualShape(PyObject* self, PyObject* args, PyObject* keywds) { int objectUniqueId = -1; int jointIndex = -1; @@ -7959,14 +7959,14 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb if (specularColorObj) { double specularColor[3] = {1, 1, 1}; - pybullet_internalSetVectord(specularColorObj, specularColor); + pycram_bullet_internalSetVectord(specularColorObj, specularColor); b3UpdateVisualShapeSpecularColor(commandHandle, specularColor); } if (rgbaColorObj) { double rgbaColor[4] = {1, 1, 1, 1}; - pybullet_internalSetVector4d(rgbaColorObj, rgbaColor); + pycram_bullet_internalSetVector4d(rgbaColorObj, rgbaColor); b3UpdateVisualShapeRGBAColor(commandHandle, rgbaColor); } if (flags >= 0) @@ -7990,7 +7990,7 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb return Py_None; } -static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_changeTexture(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle = 0; b3SharedMemoryStatusHandle statusHandle = 0; @@ -8060,7 +8060,7 @@ static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject return NULL; } -static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds) { const char* filename = 0; b3SharedMemoryCommandHandle commandHandle; @@ -8239,7 +8239,7 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint return pyResultList; } -static PyObject* pybullet_setCollisionFilterGroupMask(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setCollisionFilterGroupMask(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -8276,7 +8276,7 @@ static PyObject* pybullet_setCollisionFilterGroupMask(PyObject* self, PyObject* return Py_None; } -static PyObject* pybullet_setCollisionFilterPair(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_setCollisionFilterPair(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -8312,7 +8312,7 @@ static PyObject* pybullet_setCollisionFilterPair(PyObject* self, PyObject* args, return Py_None; } -static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getOverlappingObjects(PyObject* self, PyObject* args, PyObject* keywds) { PyObject *aabbMinOb = 0, *aabbMaxOb = 0; double aabbMin[3]; @@ -8336,8 +8336,8 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args, return NULL; } - pybullet_internalSetVectord(aabbMinOb, aabbMin); - pybullet_internalSetVectord(aabbMaxOb, aabbMax); + pycram_bullet_internalSetVectord(aabbMinOb, aabbMin); + pycram_bullet_internalSetVectord(aabbMaxOb, aabbMax); commandHandle = b3InitAABBOverlapQuery(sm, aabbMin, aabbMax); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); @@ -8370,7 +8370,7 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args, return Py_None; } -static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getClosestPointData(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueIdA = -1; int bodyUniqueIdB = -1; @@ -8441,22 +8441,22 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py } if (collisionShapePositionAObj) { - pybullet_internalSetVectord(collisionShapePositionAObj, collisionShapePositionA); + pycram_bullet_internalSetVectord(collisionShapePositionAObj, collisionShapePositionA); b3SetClosestDistanceFilterCollisionShapePositionA(commandHandle, collisionShapePositionA); } if (collisionShapePositionBObj) { - pybullet_internalSetVectord(collisionShapePositionBObj, collisionShapePositionB); + pycram_bullet_internalSetVectord(collisionShapePositionBObj, collisionShapePositionB); b3SetClosestDistanceFilterCollisionShapePositionB(commandHandle, collisionShapePositionB); } if (collisionShapeOrientationAObj) { - pybullet_internalSetVector4d(collisionShapeOrientationAObj, collisionShapeOrientationA); + pycram_bullet_internalSetVector4d(collisionShapeOrientationAObj, collisionShapeOrientationA); b3SetClosestDistanceFilterCollisionShapeOrientationA(commandHandle, collisionShapeOrientationA); } if (collisionShapeOrientationBObj) { - pybullet_internalSetVector4d(collisionShapeOrientationBObj, collisionShapeOrientationB); + pycram_bullet_internalSetVector4d(collisionShapeOrientationBObj, collisionShapeOrientationB); b3SetClosestDistanceFilterCollisionShapeOrientationB(commandHandle, collisionShapeOrientationB); } @@ -8473,7 +8473,7 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py return Py_None; } -static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds) { static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "gearAuxLink", "relativePositionTarget", "erp", "physicsClientId", NULL}; int userConstraintUniqueId = -1; @@ -8505,12 +8505,12 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P commandHandle = b3InitChangeUserConstraintCommand(sm, userConstraintUniqueId); - if (pybullet_internalSetVectord(jointChildPivotObj, jointChildPivot)) + if (pycram_bullet_internalSetVectord(jointChildPivotObj, jointChildPivot)) { b3InitChangeUserConstraintSetPivotInB(commandHandle, jointChildPivot); } - if (pybullet_internalSetVector4d(jointChildFrameOrnObj, jointChildFrameOrn)) + if (pycram_bullet_internalSetVector4d(jointChildFrameOrnObj, jointChildFrameOrn)) { b3InitChangeUserConstraintSetFrameInB(commandHandle, jointChildFrameOrn); } @@ -8542,7 +8542,7 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P return Py_None; }; -static PyObject* pybullet_removeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_removeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds) { static char* kwlist[] = {"userConstraintUniqueId", "physicsClientId", NULL}; int userConstraintUniqueId = -1; @@ -8571,13 +8571,13 @@ static PyObject* pybullet_removeUserConstraint(PyObject* self, PyObject* args, P }; /* -static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) +static PyObject* pycram_bullet_updateUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) { return NULL; } */ -static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_enableJointForceTorqueSensor(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; int jointIndex = -1; @@ -8655,7 +8655,7 @@ static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices) { PyObject* vertexObj = PySequence_GetItem(seqVerticesObj, i); double uv[2]; - if (pybullet_internalSetVector2d(vertexObj, uv)) + if (pycram_bullet_internalSetVector2d(vertexObj, uv)) { if (uvs) { @@ -8691,7 +8691,7 @@ static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices) } for (i = 0; i < numIndicesSrc; i++) { - int index = pybullet_internalGetIntFromSequence(seqIndicesObj, i); + int index = pycram_bullet_internalGetIntFromSequence(seqIndicesObj, i); if (indices) { indices[numIndicesOut] = index; @@ -8705,7 +8705,7 @@ static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices) } -static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_createCollisionShape(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -8774,7 +8774,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P if (shapeType == GEOM_BOX && halfExtentsObj) { double halfExtents[3] = {1, 1, 1}; - pybullet_internalSetVectord(halfExtentsObj, halfExtents); + pycram_bullet_internalSetVectord(halfExtentsObj, halfExtents); shapeIndex = b3CreateCollisionShapeAddBox(commandHandle, halfExtents); } if (shapeType == GEOM_CAPSULE && radius > 0 && height >= 0) @@ -8789,7 +8789,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P { if (meshScaleObj) { - pybullet_internalSetVectord(meshScaleObj, meshScale); + pycram_bullet_internalSetVectord(meshScaleObj, meshScale); } shapeIndex = b3CreateCollisionShapeAddHeightfield(commandHandle, fileName, meshScale, heightfieldTextureScaling); @@ -8800,7 +8800,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P int numHeightfieldPoints; if (meshScaleObj) { - pybullet_internalSetVectord(meshScaleObj, meshScale); + pycram_bullet_internalSetVectord(meshScaleObj, meshScale); } seqPoints = PySequence_Fast(heightfieldDataObj, "expected a sequence"); numHeightfieldPoints = PySequence_Size(heightfieldDataObj); @@ -8838,7 +8838,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P } if (shapeType == GEOM_MESH && fileName) { - pybullet_internalSetVectord(meshScaleObj, meshScale); + pycram_bullet_internalSetVectord(meshScaleObj, meshScale); shapeIndex = b3CreateCollisionShapeAddMesh(commandHandle, fileName, meshScale); } if (shapeType == GEOM_MESH && verticesObj) @@ -8849,7 +8849,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0; numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES); - pybullet_internalSetVectord(meshScaleObj, meshScale); + pycram_bullet_internalSetVectord(meshScaleObj, meshScale); if (indicesObj) { @@ -8871,7 +8871,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P if (shapeType == GEOM_PLANE) { double planeConstant = 0; - pybullet_internalSetVectord(planeNormalObj, planeNormal); + pycram_bullet_internalSetVectord(planeNormalObj, planeNormal); shapeIndex = b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant); } if (shapeIndex >= 0 && flags) @@ -8882,12 +8882,12 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P { if (collisionFramePositionObj) { - pybullet_internalSetVectord(collisionFramePositionObj, collisionFramePosition); + pycram_bullet_internalSetVectord(collisionFramePositionObj, collisionFramePosition); } if (collisionFrameOrientationObj) { - pybullet_internalSetVector4d(collisionFrameOrientationObj, collisionFrameOrientation); + pycram_bullet_internalSetVector4d(collisionFrameOrientationObj, collisionFrameOrientation); } if (collisionFramePositionObj || collisionFrameOrientationObj) { @@ -8907,7 +8907,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P return NULL; } -static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_createCollisionShapeArray(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -8980,14 +8980,14 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar for (s = 0; s < numShapeTypes; s++) { - int shapeType = pybullet_internalGetIntFromSequence(shapeTypeArraySeq, s); + int shapeType = pycram_bullet_internalGetIntFromSequence(shapeTypeArraySeq, s); if (shapeType >= GEOM_SPHERE) { int shapeIndex = -1; if (shapeType == GEOM_SPHERE && s <= numRadius) { - double radius = pybullet_internalGetFloatFromSequence(radiusArraySeq, s); + double radius = pycram_bullet_internalGetFloatFromSequence(radiusArraySeq, s); if (radius > 0) { shapeIndex = b3CreateCollisionShapeAddSphere(commandHandle, radius); @@ -9009,13 +9009,13 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar halfExtentsObj = PyTuple_GET_ITEM(halfExtentsArraySeq, s); } } - pybullet_internalSetVectord(halfExtentsObj, halfExtents); + pycram_bullet_internalSetVectord(halfExtentsObj, halfExtents); shapeIndex = b3CreateCollisionShapeAddBox(commandHandle, halfExtents); } if (shapeType == GEOM_CAPSULE && s <= numRadius) { - double radius = pybullet_internalGetFloatFromSequence(radiusArraySeq, s); - double height = pybullet_internalGetFloatFromSequence(lengthArraySeq, s); + double radius = pycram_bullet_internalGetFloatFromSequence(radiusArraySeq, s); + double height = pycram_bullet_internalGetFloatFromSequence(lengthArraySeq, s); if (radius > 0 && height >= 0) { shapeIndex = b3CreateCollisionShapeAddCapsule(commandHandle, radius, height); @@ -9023,8 +9023,8 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar } if (shapeType == GEOM_CYLINDER && s <= numRadius && s < numLengths) { - double radius = pybullet_internalGetFloatFromSequence(radiusArraySeq, s); - double height = pybullet_internalGetFloatFromSequence(lengthArraySeq, s); + double radius = pycram_bullet_internalGetFloatFromSequence(radiusArraySeq, s); + double height = pycram_bullet_internalGetFloatFromSequence(lengthArraySeq, s); if (radius > 0 && height >= 0) { shapeIndex = b3CreateCollisionShapeAddCylinder(commandHandle, radius, height); @@ -9049,7 +9049,7 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar } if (meshScaleObj) { - pybullet_internalSetVectord(meshScaleObj, meshScale); + pycram_bullet_internalSetVectord(meshScaleObj, meshScale); } if (fileName) { @@ -9061,12 +9061,12 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar PyObject* planeNormalObj = planeNormalArraySeq ? PyList_GET_ITEM(planeNormalArraySeq, s) : 0; double planeNormal[3]; double planeConstant = 0; - pybullet_internalSetVectord(planeNormalObj, planeNormal); + pycram_bullet_internalSetVectord(planeNormalObj, planeNormal); shapeIndex = b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant); } if (flagsArraySeq) { - int flags = pybullet_internalGetIntFromSequence(flagsArraySeq, s); + int flags = pycram_bullet_internalGetIntFromSequence(flagsArraySeq, s); b3CreateCollisionSetFlag(commandHandle, shapeIndex, flags); } if (positionArraySeq || orientationArraySeq) @@ -9077,12 +9077,12 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar double collisionFrameOrientation[4] = {0, 0, 0, 1}; if (collisionFramePositionObj) { - pybullet_internalSetVectord(collisionFramePositionObj, collisionFramePosition); + pycram_bullet_internalSetVectord(collisionFramePositionObj, collisionFramePosition); } if (collisionFrameOrientationObj) { - pybullet_internalSetVector4d(collisionFrameOrientationObj, collisionFrameOrientation); + pycram_bullet_internalSetVector4d(collisionFrameOrientationObj, collisionFrameOrientation); } if (shapeIndex >= 0) { @@ -9127,7 +9127,7 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar return NULL; } -static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getMeshData(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; int linkIndex = -1; @@ -9190,7 +9190,7 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject* } -static PyObject* pybullet_getTetraMeshData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getTetraMeshData(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; b3PhysicsClientHandle sm = 0; @@ -9248,7 +9248,7 @@ static PyObject* pybullet_getTetraMeshData(PyObject* self, PyObject* args, PyObj -static PyObject* pybullet_resetMeshData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_resetMeshData(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; b3PhysicsClientHandle sm = 0; @@ -9296,7 +9296,7 @@ static PyObject* pybullet_resetMeshData(PyObject* self, PyObject* args, PyObject return NULL; } -static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -9358,7 +9358,7 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb if (shapeType == GEOM_BOX && halfExtentsObj) { double halfExtents[3] = {1, 1, 1}; - pybullet_internalSetVectord(halfExtentsObj, halfExtents); + pycram_bullet_internalSetVectord(halfExtentsObj, halfExtents); shapeIndex = b3CreateVisualShapeAddBox(commandHandle, halfExtents); } @@ -9372,7 +9372,7 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb } if (shapeType == GEOM_MESH && fileName) { - pybullet_internalSetVectord(meshScaleObj, meshScale); + pycram_bullet_internalSetVectord(meshScaleObj, meshScale); shapeIndex = b3CreateVisualShapeAddMesh(commandHandle, fileName, meshScale); } @@ -9389,7 +9389,7 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb double* uvs = numUVs ? malloc(numUVs * 2 * sizeof(double)) : 0; numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES); - pybullet_internalSetVectord(meshScaleObj, meshScale); + pycram_bullet_internalSetVectord(meshScaleObj, meshScale); if (indicesObj) { @@ -9417,7 +9417,7 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb if (shapeType == GEOM_PLANE) { double planeConstant = 0; - pybullet_internalSetVectord(planeNormalObj, planeNormal); + pycram_bullet_internalSetVectord(planeNormalObj, planeNormal); shapeIndex = b3CreateVisualShapeAddPlane(commandHandle, planeNormal, planeConstant); } if (shapeIndex >= 0 && flags) @@ -9431,24 +9431,24 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb double specularColor[3] = {1, 1, 1}; if (rgbaColorObj) { - pybullet_internalSetVector4d(rgbaColorObj, rgbaColor); + pycram_bullet_internalSetVector4d(rgbaColorObj, rgbaColor); } b3CreateVisualShapeSetRGBAColor(commandHandle, shapeIndex, rgbaColor); if (specularColorObj) { - pybullet_internalSetVectord(specularColorObj, specularColor); + pycram_bullet_internalSetVectord(specularColorObj, specularColor); } b3CreateVisualShapeSetSpecularColor(commandHandle, shapeIndex, specularColor); if (visualFramePositionObj) { - pybullet_internalSetVectord(visualFramePositionObj, visualFramePosition); + pycram_bullet_internalSetVectord(visualFramePositionObj, visualFramePosition); } if (visualFrameOrientationObj) { - pybullet_internalSetVector4d(visualFrameOrientationObj, visualFrameOrientation); + pycram_bullet_internalSetVector4d(visualFrameOrientationObj, visualFrameOrientation); } b3CreateVisualShapeSetChildTransform(commandHandle, shapeIndex, visualFramePosition, visualFrameOrientation); } @@ -9466,7 +9466,7 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb return NULL; } -static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_createVisualShapeArray(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -9544,14 +9544,14 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args, for (s = 0; s < numShapeTypes; s++) { - int shapeType = pybullet_internalGetIntFromSequence(shapeTypeArraySeq, s); + int shapeType = pycram_bullet_internalGetIntFromSequence(shapeTypeArraySeq, s); if (shapeType >= GEOM_SPHERE) { int shapeIndex = -1; if (shapeType == GEOM_SPHERE && s <= numRadius) { - double radius = pybullet_internalGetFloatFromSequence(radiusArraySeq, s); + double radius = pycram_bullet_internalGetFloatFromSequence(radiusArraySeq, s); if (radius > 0) { shapeIndex = b3CreateVisualShapeAddSphere(commandHandle, radius); @@ -9573,13 +9573,13 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args, halfExtentsObj = PyTuple_GET_ITEM(halfExtentsArraySeq, s); } } - pybullet_internalSetVectord(halfExtentsObj, halfExtents); + pycram_bullet_internalSetVectord(halfExtentsObj, halfExtents); shapeIndex = b3CreateVisualShapeAddBox(commandHandle, halfExtents); } if (shapeType == GEOM_CAPSULE && s <= numRadius) { - double radius = pybullet_internalGetFloatFromSequence(radiusArraySeq, s); - double height = pybullet_internalGetFloatFromSequence(lengthArraySeq, s); + double radius = pycram_bullet_internalGetFloatFromSequence(radiusArraySeq, s); + double height = pycram_bullet_internalGetFloatFromSequence(lengthArraySeq, s); if (radius > 0 && height >= 0) { shapeIndex = b3CreateVisualShapeAddCapsule(commandHandle, radius, height); @@ -9587,8 +9587,8 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args, } if (shapeType == GEOM_CYLINDER && s <= numRadius && s < numLengths) { - double radius = pybullet_internalGetFloatFromSequence(radiusArraySeq, s); - double height = pybullet_internalGetFloatFromSequence(lengthArraySeq, s); + double radius = pycram_bullet_internalGetFloatFromSequence(radiusArraySeq, s); + double height = pycram_bullet_internalGetFloatFromSequence(lengthArraySeq, s); if (radius > 0 && height >= 0) { shapeIndex = b3CreateVisualShapeAddCylinder(commandHandle, radius, height); @@ -9613,7 +9613,7 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args, } if (meshScaleObj) { - pybullet_internalSetVectord(meshScaleObj, meshScale); + pycram_bullet_internalSetVectord(meshScaleObj, meshScale); } if (fileName) { @@ -9625,12 +9625,12 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args, PyObject* planeNormalObj = planeNormalArraySeq ? PyList_GET_ITEM(planeNormalArraySeq, s) : 0; double planeNormal[3]; double planeConstant = 0; - pybullet_internalSetVectord(planeNormalObj, planeNormal); + pycram_bullet_internalSetVectord(planeNormalObj, planeNormal); shapeIndex = b3CreateVisualShapeAddPlane(commandHandle, planeNormal, planeConstant); } if (flagsArraySeq) { - int flags = pybullet_internalGetIntFromSequence(flagsArraySeq, s); + int flags = pycram_bullet_internalGetIntFromSequence(flagsArraySeq, s); b3CreateVisualSetFlag(commandHandle, shapeIndex, flags); } if (rgbaColorArraySeq) @@ -9639,7 +9639,7 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args, double rgbaColor[4] = {1, 1, 1, 1}; if (rgbaColorObj) { - pybullet_internalSetVector4d(rgbaColorObj, rgbaColor); + pycram_bullet_internalSetVector4d(rgbaColorObj, rgbaColor); } b3CreateVisualShapeSetRGBAColor(commandHandle, shapeIndex, rgbaColor); } @@ -9651,12 +9651,12 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args, double visualFrameOrientation[4] = {0, 0, 0, 1}; if (visualFramePositionObj) { - pybullet_internalSetVectord(visualFramePositionObj, visualFramePosition); + pycram_bullet_internalSetVectord(visualFramePositionObj, visualFramePosition); } if (visualFrameOrientationObj) { - pybullet_internalSetVector4d(visualFrameOrientationObj, visualFrameOrientation); + pycram_bullet_internalSetVector4d(visualFrameOrientationObj, visualFrameOrientation); } if (shapeIndex >= 0) { @@ -9702,7 +9702,7 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args, PyErr_SetString(SpamError, "createVisualShapeArray failed."); return NULL; } -static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_createMultiBody(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; b3PhysicsClientHandle sm = 0; @@ -9796,10 +9796,10 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje double baseInertialFramePosition[3] = {0, 0, 0}; double baseInertialFrameOrientation[4] = {0, 0, 0, 1}; int baseIndex; - pybullet_internalSetVectord(basePosObj, basePosition); - pybullet_internalSetVector4d(baseOrnObj, baseOrientation); - pybullet_internalSetVectord(baseInertialFramePositionObj, baseInertialFramePosition); - pybullet_internalSetVector4d(baseInertialFrameOrientationObj, baseInertialFrameOrientation); + pycram_bullet_internalSetVectord(basePosObj, basePosition); + pycram_bullet_internalSetVector4d(baseOrnObj, baseOrientation); + pycram_bullet_internalSetVectord(baseInertialFramePositionObj, baseInertialFramePosition); + pycram_bullet_internalSetVector4d(baseInertialFrameOrientationObj, baseInertialFrameOrientation); baseIndex = b3CreateMultiBodyBase(commandHandle, baseMass, baseCollisionShapeIndex, baseVisualShapeIndex, basePosition, baseOrientation, baseInertialFramePosition, baseInertialFrameOrientation); @@ -9808,7 +9808,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje double* batchPositions = malloc(sizeof(double) * 3 * numBatchPositions); for (i = 0; i < numBatchPositions; i++) { - pybullet_internalGetVector3FromSequence(seqBatchPositions, i, &batchPositions[3 * i]); + pycram_bullet_internalGetVector3FromSequence(seqBatchPositions, i, &batchPositions[3 * i]); } b3CreateMultiBodySetBatchPositions(sm, commandHandle, batchPositions, numBatchPositions); free(batchPositions); @@ -9816,9 +9816,9 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje for (i = 0; i < numLinkMasses; i++) { - double linkMass = pybullet_internalGetFloatFromSequence(seqLinkMasses, i); - int linkCollisionShapeIndex = pybullet_internalGetIntFromSequence(seqLinkCollisionShapes, i); - int linkVisualShapeIndex = pybullet_internalGetIntFromSequence(seqLinkVisualShapes, i); + double linkMass = pycram_bullet_internalGetFloatFromSequence(seqLinkMasses, i); + int linkCollisionShapeIndex = pycram_bullet_internalGetIntFromSequence(seqLinkCollisionShapes, i); + int linkVisualShapeIndex = pycram_bullet_internalGetIntFromSequence(seqLinkVisualShapes, i); double linkPosition[3]; double linkOrientation[4]; double linkJointAxis[3]; @@ -9828,13 +9828,13 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje int linkJointType; const char* linkName; - pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions, i, linkInertialFramePosition); - pybullet_internalGetVector4FromSequence(seqLinkInertialFrameOrientations, i, linkInertialFrameOrientation); - pybullet_internalGetVector3FromSequence(seqLinkPositions, i, linkPosition); - pybullet_internalGetVector4FromSequence(seqLinkOrientations, i, linkOrientation); - pybullet_internalGetVector3FromSequence(seqLinkJoinAxis, i, linkJointAxis); - linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices, i); - linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes, i); + pycram_bullet_internalGetVector3FromSequence(seqLinkInertialFramePositions, i, linkInertialFramePosition); + pycram_bullet_internalGetVector4FromSequence(seqLinkInertialFrameOrientations, i, linkInertialFrameOrientation); + pycram_bullet_internalGetVector3FromSequence(seqLinkPositions, i, linkPosition); + pycram_bullet_internalGetVector4FromSequence(seqLinkOrientations, i, linkOrientation); + pycram_bullet_internalGetVector3FromSequence(seqLinkJoinAxis, i, linkJointAxis); + linkParentIndex = pycram_bullet_internalGetIntFromSequence(seqLinkParentIndices, i); + linkJointType = pycram_bullet_internalGetIntFromSequence(seqLinkJointTypes, i); b3CreateMultiBodyLink(commandHandle, linkMass, @@ -9940,7 +9940,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje { for (i = 0; i < len; i++) { - matrix[i] = pybullet_internalGetFloatFromSequence(seq, i); + matrix[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } Py_DECREF(seq); return 1; @@ -9953,7 +9953,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje return NULL; } -static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_createUserConstraint(PyObject* self, PyObject* args, PyObject* keywds) { b3SharedMemoryCommandHandle commandHandle; int parentBodyUniqueId = -1; @@ -10007,11 +10007,11 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P return NULL; } - pybullet_internalSetVectord(jointAxisObj, jointAxis); - pybullet_internalSetVectord(parentFramePositionObj, parentFramePosition); - pybullet_internalSetVectord(childFramePositionObj, childFramePosition); - pybullet_internalSetVector4d(parentFrameOrientationObj, parentFrameOrientation); - pybullet_internalSetVector4d(childFrameOrientationObj, childFrameOrientation); + pycram_bullet_internalSetVectord(jointAxisObj, jointAxis); + pycram_bullet_internalSetVectord(parentFramePositionObj, parentFramePosition); + pycram_bullet_internalSetVectord(childFramePositionObj, childFramePosition); + pycram_bullet_internalSetVector4d(parentFrameOrientationObj, parentFrameOrientation); + pycram_bullet_internalSetVector4d(childFrameOrientationObj, childFrameOrientation); jointInfo.m_jointType = jointType; jointInfo.m_parentFrame[0] = parentFramePosition[0]; @@ -10048,7 +10048,7 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P return NULL; } -static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getContactPointData(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueIdA = -1; int bodyUniqueIdB = -1; @@ -10107,7 +10107,7 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py return Py_None; } -static PyObject* pybullet_isNumpyEnabled(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_isNumpyEnabled(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; int isNumpyEnabled = 0; @@ -10129,7 +10129,7 @@ static PyObject* pybullet_isNumpyEnabled(PyObject* self, PyObject* args, PyObjec /// Render an image from the current timestep of the simulation, width, height are required, other args are optional // getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff, renderer) -static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getCameraImage(PyObject* self, PyObject* args, PyObject* keywds) { /// request an image from a simulated camera, using software or hardware renderer. struct b3CameraImageData imageData; @@ -10170,17 +10170,17 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec b3RequestCameraImageSetPixelResolution(command, width, height); // set camera matrices only if set matrix function succeeds - if (objViewMat && objProjMat && pybullet_internalSetMatrix(objViewMat, viewMatrix) && (pybullet_internalSetMatrix(objProjMat, projectionMatrix))) + if (objViewMat && objProjMat && pycram_bullet_internalSetMatrix(objViewMat, viewMatrix) && (pycram_bullet_internalSetMatrix(objProjMat, projectionMatrix))) { b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); } //set light direction only if function succeeds - if (lightDirObj && pybullet_internalSetVector(lightDirObj, lightDir)) + if (lightDirObj && pycram_bullet_internalSetVector(lightDirObj, lightDir)) { b3RequestCameraImageSetLightDirection(command, lightDir); } //set light color only if function succeeds - if (pybullet_internalSetVector(lightColorObj, lightColor)) + if (pycram_bullet_internalSetVector(lightColorObj, lightColor)) { b3RequestCameraImageSetLightColor(command, lightColor); } @@ -10211,7 +10211,7 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec { b3RequestCameraImageSetFlags(command, flags); } - if (objProjectiveTextureView && objProjectiveTextureProj && pybullet_internalSetMatrix(objProjectiveTextureView, projectiveTextureView) && (pybullet_internalSetMatrix(objProjectiveTextureProj, projectiveTextureProj))) + if (objProjectiveTextureView && objProjectiveTextureProj && pycram_bullet_internalSetMatrix(objProjectiveTextureView, projectiveTextureView) && (pycram_bullet_internalSetMatrix(objProjectiveTextureProj, projectiveTextureProj))) { b3RequestCameraImageSetProjectiveTextureMatrices(command, projectiveTextureView, projectiveTextureProj); } @@ -10333,7 +10333,7 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec return Py_None; } -static PyObject* pybullet_computeViewMatrix(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_computeViewMatrix(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* camEyeObj = 0; PyObject* camTargetPositionObj = 0; @@ -10350,9 +10350,9 @@ static PyObject* pybullet_computeViewMatrix(PyObject* self, PyObject* args, PyOb return NULL; } - if (pybullet_internalSetVector(camEyeObj, camEye) && - pybullet_internalSetVector(camTargetPositionObj, camTargetPosition) && - pybullet_internalSetVector(camUpVectorObj, camUpVector)) + if (pycram_bullet_internalSetVector(camEyeObj, camEye) && + pycram_bullet_internalSetVector(camTargetPositionObj, camTargetPosition) && + pycram_bullet_internalSetVector(camUpVectorObj, camUpVector)) { float viewMatrix[16]; PyObject* pyResultList = 0; @@ -10373,7 +10373,7 @@ static PyObject* pybullet_computeViewMatrix(PyObject* self, PyObject* args, PyOb } ///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices -static PyObject* pybullet_computeViewMatrixFromYawPitchRoll(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_computeViewMatrixFromYawPitchRoll(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* cameraTargetPositionObj = 0; float cameraTargetPosition[3]; @@ -10392,7 +10392,7 @@ static PyObject* pybullet_computeViewMatrixFromYawPitchRoll(PyObject* self, PyOb return NULL; } - if (!pybullet_internalSetVector(cameraTargetPositionObj, cameraTargetPosition)) + if (!pycram_bullet_internalSetVector(cameraTargetPositionObj, cameraTargetPosition)) { PyErr_SetString(SpamError, "Cannot convert cameraTargetPosition."); return NULL; @@ -10410,7 +10410,7 @@ static PyObject* pybullet_computeViewMatrixFromYawPitchRoll(PyObject* self, PyOb } ///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices -static PyObject* pybullet_computeProjectionMatrix(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_computeProjectionMatrix(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* pyResultList = 0; float left; @@ -10442,7 +10442,7 @@ static PyObject* pybullet_computeProjectionMatrix(PyObject* self, PyObject* args return pyResultList; } -static PyObject* pybullet_computeProjectionMatrixFOV(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_computeProjectionMatrixFOV(PyObject* self, PyObject* args, PyObject* keywds) { float fov, aspect, nearVal, farVal; PyObject* pyResultList = 0; @@ -10491,7 +10491,7 @@ static PyObject* pybullet_computeProjectionMatrixFOV(PyObject* self, PyObject* a // TODO(hellojas): fix image is cut off at head // TODO(hellojas): should we add check to give minimum image resolution // to see object based on camera position? -static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) +static PyObject* pycram_bullet_renderImageObsolete(PyObject* self, PyObject* args) { /// request an image from a simulated camera, using a software renderer. struct b3CameraImageData imageData; @@ -10539,8 +10539,8 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) b3RequestCameraImageSetPixelResolution(command, width, height); // set camera matrices only if set matrix function succeeds - if (pybullet_internalSetMatrix(objViewMat, viewMatrix) && - (pybullet_internalSetMatrix(objProjMat, projectionMatrix))) + if (pycram_bullet_internalSetMatrix(objViewMat, viewMatrix) && + (pycram_bullet_internalSetMatrix(objProjMat, projectionMatrix))) { b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); @@ -10559,9 +10559,9 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) &objTargetPos, &objCameraUp, &nearVal, &farVal)) { b3RequestCameraImageSetPixelResolution(command, width, height); - if (pybullet_internalSetVector(objCameraPos, cameraPos) && - pybullet_internalSetVector(objTargetPos, targetPos) && - pybullet_internalSetVector(objCameraUp, cameraUp)) + if (pycram_bullet_internalSetVector(objCameraPos, cameraPos) && + pycram_bullet_internalSetVector(objTargetPos, targetPos) && + pycram_bullet_internalSetVector(objCameraUp, cameraUp)) { b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp); @@ -10591,9 +10591,9 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) &fov)) { b3RequestCameraImageSetPixelResolution(command, width, height); - if (pybullet_internalSetVector(objCameraPos, cameraPos) && - pybullet_internalSetVector(objTargetPos, targetPos) && - pybullet_internalSetVector(objCameraUp, cameraUp)) + if (pycram_bullet_internalSetVector(objCameraPos, cameraPos) && + pycram_bullet_internalSetVector(objTargetPos, targetPos) && + pycram_bullet_internalSetVector(objCameraUp, cameraUp)) { b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp); @@ -10621,7 +10621,7 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) &nearVal, &farVal, &fov)) { b3RequestCameraImageSetPixelResolution(command, width, height); - if (pybullet_internalSetVector(objTargetPos, targetPos)) + if (pycram_bullet_internalSetVector(objTargetPos, targetPos)) { // printf("width = %d, height = %d, targetPos = %f,%f,%f, distance = %f, // yaw = %f, pitch = %f, upAxisIndex = %d, near=%f, far=%f, @@ -10759,7 +10759,7 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) return Py_None; } -static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_applyExternalForce(PyObject* self, PyObject* args, PyObject* keywds) { { int objectUniqueId = -1, linkIndex = -1, flags; @@ -10794,7 +10794,7 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args, PyO { for (i = 0; i < 3; i++) { - force[i] = pybullet_internalGetFloatFromSequence(seq, i); + force[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } } else @@ -10814,7 +10814,7 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args, PyO { for (i = 0; i < 3; i++) { - position[i] = pybullet_internalGetFloatFromSequence(seq, i); + position[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } } else @@ -10840,7 +10840,7 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args, PyO return Py_None; } -static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_applyExternalTorque(PyObject* self, PyObject* args, PyObject* keywds) { { int objectUniqueId, linkIndex, flags; @@ -10872,7 +10872,7 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args, Py { for (i = 0; i < 3; i++) { - torque[i] = pybullet_internalGetFloatFromSequence(seq, i); + torque[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } } else @@ -10909,7 +10909,7 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args, Py return Py_None; } -static PyObject* pybullet_getQuaternionFromEuler(PyObject* self, +static PyObject* pycram_bullet_getQuaternionFromEuler(PyObject* self, PyObject* args, PyObject* keywds) { double rpy[3]; @@ -10934,7 +10934,7 @@ static PyObject* pybullet_getQuaternionFromEuler(PyObject* self, { for (i = 0; i < 3; i++) { - rpy[i] = pybullet_internalGetFloatFromSequence(seq, i); + rpy[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } } else @@ -10989,7 +10989,7 @@ static PyObject* pybullet_getQuaternionFromEuler(PyObject* self, return Py_None; } -static PyObject* pybullet_multiplyTransforms(PyObject* self, +static PyObject* pycram_bullet_multiplyTransforms(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* posAObj = 0; @@ -11014,10 +11014,10 @@ static PyObject* pybullet_multiplyTransforms(PyObject* self, return NULL; } - hasPosA = pybullet_internalSetVectord(posAObj, posA); - hasOrnA = pybullet_internalSetVector4d(ornAObj, ornA); - hasPosB = pybullet_internalSetVectord(posBObj, posB); - hasOrnB = pybullet_internalSetVector4d(ornBObj, ornB); + hasPosA = pycram_bullet_internalSetVectord(posAObj, posA); + hasOrnA = pycram_bullet_internalSetVector4d(ornAObj, ornA); + hasPosB = pycram_bullet_internalSetVectord(posBObj, posB); + hasOrnB = pycram_bullet_internalSetVector4d(ornBObj, ornB); if (hasPosA && hasOrnA && hasPosB && hasOrnB) { @@ -11047,7 +11047,7 @@ static PyObject* pybullet_multiplyTransforms(PyObject* self, return NULL; } -static PyObject* pybullet_invertTransform(PyObject* self, +static PyObject* pycram_bullet_invertTransform(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* posObj = 0; @@ -11064,8 +11064,8 @@ static PyObject* pybullet_invertTransform(PyObject* self, return NULL; } - hasPos = pybullet_internalSetVectord(posObj, pos); - hasOrn = pybullet_internalSetVector4d(ornObj, orn); + hasPos = pycram_bullet_internalSetVectord(posObj, pos); + hasOrn = pycram_bullet_internalSetVector4d(ornObj, orn); if (hasPos && hasOrn) { @@ -11096,7 +11096,7 @@ static PyObject* pybullet_invertTransform(PyObject* self, return NULL; } -static PyObject* pybullet_rotateVector(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_rotateVector(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* quatObj; PyObject* vectorObj; @@ -11114,12 +11114,12 @@ static PyObject* pybullet_rotateVector(PyObject* self, PyObject* args, PyObject* if (quatObj) { - hasQuat = pybullet_internalSetVector4d(quatObj, quat); + hasQuat = pycram_bullet_internalSetVector4d(quatObj, quat); } if (vectorObj) { - hasVec = pybullet_internalSetVectord(vectorObj, vec); + hasVec = pycram_bullet_internalSetVectord(vectorObj, vec); } if (hasQuat && hasVec) { @@ -11143,7 +11143,7 @@ static PyObject* pybullet_rotateVector(PyObject* self, PyObject* args, PyObject* return Py_None; } -static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* quatStartObj; PyObject* quatEndObj; @@ -11162,12 +11162,12 @@ static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* if (quatStartObj) { - hasQuatStart = pybullet_internalSetVector4d(quatStartObj, quatStart); + hasQuatStart = pycram_bullet_internalSetVector4d(quatStartObj, quatStart); } if (quatEndObj) { - hasQuatEnd = pybullet_internalSetVector4d(quatEndObj, quatEnd); + hasQuatEnd = pycram_bullet_internalSetVector4d(quatEndObj, quatEnd); } if (hasQuatStart && hasQuatEnd) { @@ -11191,7 +11191,7 @@ static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* return Py_None; } -static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* quatStartObj; PyObject* quatEndObj; @@ -11210,12 +11210,12 @@ static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyO if (quatStartObj) { - hasQuatStart = pybullet_internalSetVector4d(quatStartObj, quatStart); + hasQuatStart = pycram_bullet_internalSetVector4d(quatStartObj, quatStart); } if (quatEndObj) { - hasQuatEnd = pybullet_internalSetVector4d(quatEndObj, quatEnd); + hasQuatEnd = pycram_bullet_internalSetVector4d(quatEndObj, quatEnd); } if (hasQuatStart && hasQuatEnd) { @@ -11239,7 +11239,7 @@ static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyO return Py_None; } -static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; PyObject* quatObj; @@ -11254,7 +11254,7 @@ static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* a if (quatObj) { - hasQuat = pybullet_internalSetVector4d(quatObj, quat); + hasQuat = pycram_bullet_internalSetVector4d(quatObj, quat); } if (hasQuat) @@ -11286,7 +11286,7 @@ static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* a return Py_None; } -static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* axisObj; double axis[3]; @@ -11302,7 +11302,7 @@ static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* a if (axisObj) { - hasAxis = pybullet_internalSetVectord(axisObj, axis); + hasAxis = pycram_bullet_internalSetVectord(axisObj, axis); } if (hasAxis) @@ -11327,7 +11327,7 @@ static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* a return Py_None; } -static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* quatStartObj; PyObject* quatEndObj; @@ -11345,12 +11345,12 @@ static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* if (quatStartObj) { - hasQuatStart = pybullet_internalSetVector4d(quatStartObj, quatStart); + hasQuatStart = pycram_bullet_internalSetVector4d(quatStartObj, quatStart); } if (quatEndObj) { - hasQuatEnd = pybullet_internalSetVector4d(quatEndObj, quatEnd); + hasQuatEnd = pycram_bullet_internalSetVector4d(quatEndObj, quatEnd); } if (hasQuatStart && hasQuatEnd) { @@ -11374,7 +11374,7 @@ static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* return Py_None; } -static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_getDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* quatStartObj; PyObject* quatEndObj; @@ -11392,12 +11392,12 @@ static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args if (quatStartObj) { - hasQuatStart = pybullet_internalSetVector4d(quatStartObj, quatStart); + hasQuatStart = pycram_bullet_internalSetVector4d(quatStartObj, quatStart); } if (quatEndObj) { - hasQuatEnd = pybullet_internalSetVector4d(quatEndObj, quatEnd); + hasQuatEnd = pycram_bullet_internalSetVector4d(quatEndObj, quatEnd); } if (hasQuatStart && hasQuatEnd) { @@ -11423,7 +11423,7 @@ static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args /// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo /// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc -static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, +static PyObject* pycram_bullet_getEulerFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds) { double squ; @@ -11454,7 +11454,7 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, { for (i = 0; i < 4; i++) { - quat[i] = pybullet_internalGetFloatFromSequence(seq, i); + quat[i] = pycram_bullet_internalGetFloatFromSequence(seq, i); } } else @@ -11515,7 +11515,7 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, return Py_None; } -static PyObject* pybullet_loadPlugin(PyObject* self, +static PyObject* pycram_bullet_loadPlugin(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; @@ -11552,7 +11552,7 @@ static PyObject* pybullet_loadPlugin(PyObject* self, return PyInt_FromLong(statusType); } -static PyObject* pybullet_unloadPlugin(PyObject* self, +static PyObject* pycram_bullet_unloadPlugin(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; @@ -11586,7 +11586,7 @@ static PyObject* pybullet_unloadPlugin(PyObject* self, } //createCustomCommand for executing commands implemented in a plugin system -static PyObject* pybullet_executePluginCommand(PyObject* self, +static PyObject* pycram_bullet_executePluginCommand(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; @@ -11624,13 +11624,13 @@ static PyObject* pybullet_executePluginCommand(PyObject* self, int i; for (i = 0; i < numIntArgs; i++) { - int val = pybullet_internalGetIntFromSequence(seqIntArgs, i); + int val = pycram_bullet_internalGetIntFromSequence(seqIntArgs, i); b3CustomCommandExecuteAddIntArgument(command, val); } for (i = 0; i < numFloatArgs; i++) { - float val = pybullet_internalGetFloatFromSequence(seqFloatArgs, i); + float val = pycram_bullet_internalGetFloatFromSequence(seqFloatArgs, i); b3CustomCommandExecuteAddFloatArgument(command, val); } if (seqFloatArgs) @@ -11677,7 +11677,7 @@ static PyObject* pybullet_executePluginCommand(PyObject* self, ///Inverse Kinematics binding -static PyObject* pybullet_calculateInverseKinematics(PyObject* self, +static PyObject* pycram_bullet_calculateInverseKinematics(PyObject* self, PyObject* args, PyObject* keywds) { @@ -11719,8 +11719,8 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self, { double pos[3]; double ori[4] = {0, 0, 0, 1}; - int hasPos = pybullet_internalSetVectord(targetPosObj, pos); - int hasOrn = pybullet_internalSetVector4d(targetOrnObj, ori); + int hasPos = pycram_bullet_internalSetVectord(targetPosObj, pos); + int hasOrn = pycram_bullet_internalSetVector4d(targetOrnObj, ori); int szLowerLimits = lowerLimitsObj ? PySequence_Size(lowerLimitsObj) : 0; int szUpperLimits = upperLimitsObj ? PySequence_Size(upperLimitsObj) : 0; @@ -11755,10 +11755,10 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self, for (i = 0; i < dofCount; i++) { - lowerLimits[i] = pybullet_internalGetFloatFromSequence(lowerLimitsObj, i); - upperLimits[i] = pybullet_internalGetFloatFromSequence(upperLimitsObj, i); - jointRanges[i] = pybullet_internalGetFloatFromSequence(jointRangesObj, i); - restPoses[i] = pybullet_internalGetFloatFromSequence(restPosesObj, i); + lowerLimits[i] = pycram_bullet_internalGetFloatFromSequence(lowerLimitsObj, i); + upperLimits[i] = pycram_bullet_internalGetFloatFromSequence(upperLimitsObj, i); + jointRanges[i] = pycram_bullet_internalGetFloatFromSequence(jointRangesObj, i); + restPoses[i] = pycram_bullet_internalGetFloatFromSequence(restPosesObj, i); } hasNullSpace = 1; } @@ -11782,7 +11782,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self, currentPositions = (double*)malloc(szInBytes); for (i = 0; i < szCurrentPositions; i++) { - currentPositions[i] = pybullet_internalGetFloatFromSequence(currentPositionsObj, i); + currentPositions[i] = pycram_bullet_internalGetFloatFromSequence(currentPositionsObj, i); } hasCurrentPositions = 1; } @@ -11805,7 +11805,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self, jointDamping = (double*)malloc(szInBytes); for (i = 0; i < szJointDamping; i++) { - jointDamping[i] = pybullet_internalGetFloatFromSequence(jointDampingObj, i); + jointDamping[i] = pycram_bullet_internalGetFloatFromSequence(jointDampingObj, i); } hasJointDamping = 1; } @@ -11915,7 +11915,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self, ///Inverse Kinematics binding -static PyObject* pybullet_calculateInverseKinematics2(PyObject* self, +static PyObject* pycram_bullet_calculateInverseKinematics2(PyObject* self, PyObject* args, PyObject* keywds) { @@ -11968,7 +11968,7 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self, double pos[3] = { 0, 0, 0 }; double ori[4] = { 0, 0, 0, 1 }; int hasPos = numEndEffectorPositions > 0; - int hasOrn = 0;// pybullet_internalSetVector4d(targetOrnObj, ori); + int hasOrn = 0;// pycram_bullet_internalSetVector4d(targetOrnObj, ori); int szLowerLimits = lowerLimitsObj ? PySequence_Size(lowerLimitsObj) : 0; int szUpperLimits = upperLimitsObj ? PySequence_Size(upperLimitsObj) : 0; @@ -12003,10 +12003,10 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self, for (i = 0; i < dofCount; i++) { - lowerLimits[i] = pybullet_internalGetFloatFromSequence(lowerLimitsObj, i); - upperLimits[i] = pybullet_internalGetFloatFromSequence(upperLimitsObj, i); - jointRanges[i] = pybullet_internalGetFloatFromSequence(jointRangesObj, i); - restPoses[i] = pybullet_internalGetFloatFromSequence(restPosesObj, i); + lowerLimits[i] = pycram_bullet_internalGetFloatFromSequence(lowerLimitsObj, i); + upperLimits[i] = pycram_bullet_internalGetFloatFromSequence(upperLimitsObj, i); + jointRanges[i] = pycram_bullet_internalGetFloatFromSequence(jointRangesObj, i); + restPoses[i] = pycram_bullet_internalGetFloatFromSequence(restPosesObj, i); } hasNullSpace = 1; } @@ -12032,7 +12032,7 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self, currentPositions = (double*)malloc(szInBytes); for (i = 0; i < szCurrentPositions; i++) { - currentPositions[i] = pybullet_internalGetFloatFromSequence(currentPositionsObj, i); + currentPositions[i] = pycram_bullet_internalGetFloatFromSequence(currentPositionsObj, i); } hasCurrentPositions = 1; } @@ -12055,7 +12055,7 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self, jointDamping = (double*)malloc(szInBytes); for (i = 0; i < szJointDamping; i++) { - jointDamping[i] = pybullet_internalGetFloatFromSequence(jointDampingObj, i); + jointDamping[i] = pycram_bullet_internalGetFloatFromSequence(jointDampingObj, i); } hasJointDamping = 1; } @@ -12178,7 +12178,7 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self, /// Given an object id, joint positions, joint velocities and joint /// accelerations, /// compute the joint forces using Inverse Dynamics -static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_calculateInverseDynamics(PyObject* self, PyObject* args, PyObject* keywds) { { int bodyUniqueId; @@ -12234,14 +12234,14 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg for (i = 0; i < szObPos; i++) { jointPositionsQ[i] = - pybullet_internalGetFloatFromSequence(objPositionsQ, i); + pycram_bullet_internalGetFloatFromSequence(objPositionsQ, i); } for (i = 0; i < szObVel; i++) { jointVelocitiesQdot[i] = - pybullet_internalGetFloatFromSequence(objVelocitiesQdot, i); + pycram_bullet_internalGetFloatFromSequence(objVelocitiesQdot, i); jointAccelerations[i] = - pybullet_internalGetFloatFromSequence(objAccelerations, i); + pycram_bullet_internalGetFloatFromSequence(objAccelerations, i); } { @@ -12309,7 +12309,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg /// Given an object id, joint positions, joint velocities and joint /// accelerations, compute the Jacobian -static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_calculateJacobian(PyObject* self, PyObject* args, PyObject* keywds) { { int bodyUniqueId; @@ -12364,13 +12364,13 @@ static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyOb case eSphericalType: { PyErr_SetString(SpamError, - "Spherirical joints are not supported in the pybullet binding"); + "Spherirical joints are not supported in the pycram_bullet binding"); return NULL; } case ePlanarType: { PyErr_SetString(SpamError, - "Planar joints are not supported in the pybullet binding"); + "Planar joints are not supported in the pycram_bullet binding"); return NULL; } default: @@ -12394,15 +12394,15 @@ static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyOb double* linearJacobian = NULL; double* angularJacobian = NULL; - pybullet_internalSetVectord(localPosition, localPoint); + pycram_bullet_internalSetVectord(localPosition, localPoint); for (i = 0; i < dofCountOrg; i++) { jointPositions[i] = - pybullet_internalGetFloatFromSequence(objPositions, i); + pycram_bullet_internalGetFloatFromSequence(objPositions, i); jointVelocities[i] = - pybullet_internalGetFloatFromSequence(objVelocities, i); + pycram_bullet_internalGetFloatFromSequence(objVelocities, i); jointAccelerations[i] = - pybullet_internalGetFloatFromSequence(objAccelerations, i); + pycram_bullet_internalGetFloatFromSequence(objAccelerations, i); } { b3SharedMemoryStatusHandle statusHandle; @@ -12496,7 +12496,7 @@ static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyOb /// Given an object id, joint positions, joint velocities and joint /// accelerations, compute the Jacobian -static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pycram_bullet_calculateMassMatrix(PyObject* self, PyObject* args, PyObject* keywds) { { int bodyUniqueId; @@ -12531,7 +12531,7 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py for (i = 0; i < szObPos; i++) { jointPositions[i] = - pybullet_internalGetFloatFromSequence(objPositions, i); + pycram_bullet_internalGetFloatFromSequence(objPositions, i); } { b3SharedMemoryStatusHandle statusHandle; @@ -12598,253 +12598,253 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py static PyMethodDef SpamMethods[] = { - {"connect", (PyCFunction)pybullet_connectPhysicsServer, METH_VARARGS | METH_KEYWORDS, + {"connect", (PyCFunction)pycram_bullet_connectPhysicsServer, METH_VARARGS | METH_KEYWORDS, "connect(method, key=SHARED_MEMORY_KEY, options='')\n" "connect(method, hostname='localhost', port=1234, options='')\n" "Connect to an existing physics server (using shared memory by default)."}, - {"disconnect", (PyCFunction)pybullet_disconnectPhysicsServer, METH_VARARGS | METH_KEYWORDS, + {"disconnect", (PyCFunction)pycram_bullet_disconnectPhysicsServer, METH_VARARGS | METH_KEYWORDS, "disconnect(physicsClientId=0)\n" "Disconnect from the physics server."}, - {"getConnectionInfo", (PyCFunction)pybullet_getConnectionInfo, METH_VARARGS | METH_KEYWORDS, + {"getConnectionInfo", (PyCFunction)pycram_bullet_getConnectionInfo, METH_VARARGS | METH_KEYWORDS, "getConnectionInfo(physicsClientId=0)\n" "Return if a given client id is connected, and using what method."}, - {"isConnected", (PyCFunction)pybullet_isConnected, METH_VARARGS | METH_KEYWORDS, + {"isConnected", (PyCFunction)pycram_bullet_isConnected, METH_VARARGS | METH_KEYWORDS, "isConnected(physicsClientId=0)\n" "Return if a given client id is connected."}, - {"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS, + {"resetSimulation", (PyCFunction)pycram_bullet_resetSimulation, METH_VARARGS | METH_KEYWORDS, "resetSimulation(physicsClientId=0)\n" "Reset the simulation: remove all objects and start from an empty world."}, - {"stepSimulation", (PyCFunction)pybullet_stepSimulation, METH_VARARGS | METH_KEYWORDS, + {"stepSimulation", (PyCFunction)pycram_bullet_stepSimulation, METH_VARARGS | METH_KEYWORDS, "stepSimulation(physicsClientId=0)\n" "Step the simulation using forward dynamics."}, - {"performCollisionDetection", (PyCFunction)pybullet_performCollisionDetection, METH_VARARGS | METH_KEYWORDS, + {"performCollisionDetection", (PyCFunction)pycram_bullet_performCollisionDetection, METH_VARARGS | METH_KEYWORDS, "performCollisionDetection(physicsClientId=0)\n" "Update AABBs, compute overlapping pairs and contact points. stepSimulation also includes this already."}, - {"setGravity", (PyCFunction)pybullet_setGravity, METH_VARARGS | METH_KEYWORDS, + {"setGravity", (PyCFunction)pycram_bullet_setGravity, METH_VARARGS | METH_KEYWORDS, "setGravity(gravX, gravY, gravZ, physicsClientId=0)\n" "Set the gravity acceleration (x,y,z)."}, - {"setTimeStep", (PyCFunction)pybullet_setTimeStep, METH_VARARGS | METH_KEYWORDS, + {"setTimeStep", (PyCFunction)pycram_bullet_setTimeStep, METH_VARARGS | METH_KEYWORDS, "setTimeStep(timestep, physicsClientId=0)\n" "Set the amount of time to proceed at each call to stepSimulation. (unit " "is seconds, typically range is 0.01 or 0.001)"}, - {"setDefaultContactERP", (PyCFunction)pybullet_setDefaultContactERP, METH_VARARGS | METH_KEYWORDS, + {"setDefaultContactERP", (PyCFunction)pycram_bullet_setDefaultContactERP, METH_VARARGS | METH_KEYWORDS, "setDefaultContactERP(defaultContactERP, physicsClientId=0)\n" "Set the amount of contact penetration Error Recovery Paramater " "(ERP) in each time step. \ This is an tuning parameter to control resting contact stability. " "This value depends on the time step."}, - {"setRealTimeSimulation", (PyCFunction)pybullet_setRealTimeSimulation, METH_VARARGS | METH_KEYWORDS, + {"setRealTimeSimulation", (PyCFunction)pycram_bullet_setRealTimeSimulation, METH_VARARGS | METH_KEYWORDS, "setRealTimeSimulation(enableRealTimeSimulation, physicsClientId=0)\n" "Enable or disable real time simulation (using the real time clock," " RTC) in the physics server. Expects one integer argument, 0 or 1"}, - {"setPhysicsEngineParameter", (PyCFunction)pybullet_setPhysicsEngineParameter, METH_VARARGS | METH_KEYWORDS, + {"setPhysicsEngineParameter", (PyCFunction)pycram_bullet_setPhysicsEngineParameter, METH_VARARGS | METH_KEYWORDS, "Set some internal physics engine parameter, such as cfm or erp etc."}, - {"getPhysicsEngineParameters", (PyCFunction)pybullet_getPhysicsEngineParameters, METH_VARARGS | METH_KEYWORDS, + {"getPhysicsEngineParameters", (PyCFunction)pycram_bullet_getPhysicsEngineParameters, METH_VARARGS | METH_KEYWORDS, "Get the current values of internal physics engine parameters"}, - {"setInternalSimFlags", (PyCFunction)pybullet_setInternalSimFlags, METH_VARARGS | METH_KEYWORDS, + {"setInternalSimFlags", (PyCFunction)pycram_bullet_setInternalSimFlags, METH_VARARGS | METH_KEYWORDS, "This is for experimental purposes, use at own risk, magic may or not happen"}, - {"loadURDF", (PyCFunction)pybullet_loadURDF, METH_VARARGS | METH_KEYWORDS, + {"loadURDF", (PyCFunction)pycram_bullet_loadURDF, METH_VARARGS | METH_KEYWORDS, "bodyUniqueId = loadURDF(fileName, basePosition=[0.,0.,0.], baseOrientation=[0.,0.,0.,1.], " "useMaximalCoordinates=0, useFixedBase=0, flags=0, globalScaling=1.0, physicsClientId=0)\n" "Create a multibody by loading a URDF file."}, - {"loadSDF", (PyCFunction)pybullet_loadSDF, METH_VARARGS | METH_KEYWORDS, + {"loadSDF", (PyCFunction)pycram_bullet_loadSDF, METH_VARARGS | METH_KEYWORDS, "Load multibodies from an SDF file."}, #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - {"loadSoftBody", (PyCFunction)pybullet_loadSoftBody, METH_VARARGS | METH_KEYWORDS, + {"loadSoftBody", (PyCFunction)pycram_bullet_loadSoftBody, METH_VARARGS | METH_KEYWORDS, "Load a softbody from an obj file."}, - {"createSoftBodyAnchor", (PyCFunction)pybullet_createSoftBodyAnchor, METH_VARARGS | METH_KEYWORDS, + {"createSoftBodyAnchor", (PyCFunction)pycram_bullet_createSoftBodyAnchor, METH_VARARGS | METH_KEYWORDS, "Create an anchor (attachment) between a soft body and a rigid or multi body."}, #endif - {"loadBullet", (PyCFunction)pybullet_loadBullet, METH_VARARGS | METH_KEYWORDS, + {"loadBullet", (PyCFunction)pycram_bullet_loadBullet, METH_VARARGS | METH_KEYWORDS, "Load a world from a .bullet file."}, - {"saveBullet", (PyCFunction)pybullet_saveBullet, METH_VARARGS | METH_KEYWORDS, + {"saveBullet", (PyCFunction)pycram_bullet_saveBullet, METH_VARARGS | METH_KEYWORDS, "Save the full state of the world to a .bullet file."}, - {"restoreState", (PyCFunction)pybullet_restoreState, METH_VARARGS | METH_KEYWORDS, + {"restoreState", (PyCFunction)pycram_bullet_restoreState, METH_VARARGS | METH_KEYWORDS, "Restore the full state of an existing world."}, - {"saveState", (PyCFunction)pybullet_saveState, METH_VARARGS | METH_KEYWORDS, + {"saveState", (PyCFunction)pycram_bullet_saveState, METH_VARARGS | METH_KEYWORDS, "Save the full state of the world to memory."}, - { "removeState", (PyCFunction)pybullet_removeState, METH_VARARGS | METH_KEYWORDS, + { "removeState", (PyCFunction)pycram_bullet_removeState, METH_VARARGS | METH_KEYWORDS, "Remove a state created using saveState by its state unique id." }, - {"loadMJCF", (PyCFunction)pybullet_loadMJCF, METH_VARARGS | METH_KEYWORDS, + {"loadMJCF", (PyCFunction)pycram_bullet_loadMJCF, METH_VARARGS | METH_KEYWORDS, "Load multibodies from an MJCF file."}, - {"createCollisionShape", (PyCFunction)pybullet_createCollisionShape, METH_VARARGS | METH_KEYWORDS, + {"createCollisionShape", (PyCFunction)pycram_bullet_createCollisionShape, METH_VARARGS | METH_KEYWORDS, "Create a collision shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."}, - {"createCollisionShapeArray", (PyCFunction)pybullet_createCollisionShapeArray, METH_VARARGS | METH_KEYWORDS, + {"createCollisionShapeArray", (PyCFunction)pycram_bullet_createCollisionShapeArray, METH_VARARGS | METH_KEYWORDS, "Create collision shapes. Returns a non-negative (int) unique id, if successfull, negative otherwise."}, - {"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS, + {"removeCollisionShape", (PyCFunction)pycram_bullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS, "Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."}, - {"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS, + {"getMeshData", (PyCFunction)pycram_bullet_getMeshData, METH_VARARGS | METH_KEYWORDS, "Get mesh data. Returns vertices etc from the mesh."}, - {"getTetraMeshData", (PyCFunction)pybullet_getTetraMeshData, METH_VARARGS | METH_KEYWORDS, + {"getTetraMeshData", (PyCFunction)pycram_bullet_getTetraMeshData, METH_VARARGS | METH_KEYWORDS, "Get mesh data. Returns tetra from the mesh."}, - {"resetMeshData", (PyCFunction)pybullet_resetMeshData, METH_VARARGS | METH_KEYWORDS, + {"resetMeshData", (PyCFunction)pycram_bullet_resetMeshData, METH_VARARGS | METH_KEYWORDS, "Reset mesh data. Only implemented for deformable bodies."}, - {"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS, + {"createVisualShape", (PyCFunction)pycram_bullet_createVisualShape, METH_VARARGS | METH_KEYWORDS, "Create a visual shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."}, - {"createVisualShapeArray", (PyCFunction)pybullet_createVisualShapeArray, METH_VARARGS | METH_KEYWORDS, + {"createVisualShapeArray", (PyCFunction)pycram_bullet_createVisualShapeArray, METH_VARARGS | METH_KEYWORDS, "Create visual shapes. Returns a non-negative (int) unique id, if successfull, negative otherwise."}, - {"createMultiBody", (PyCFunction)pybullet_createMultiBody, METH_VARARGS | METH_KEYWORDS, + {"createMultiBody", (PyCFunction)pycram_bullet_createMultiBody, METH_VARARGS | METH_KEYWORDS, "Create a multi body. Returns a non-negative (int) unique id, if successfull, negative otherwise."}, - {"createConstraint", (PyCFunction)pybullet_createUserConstraint, METH_VARARGS | METH_KEYWORDS, + {"createConstraint", (PyCFunction)pycram_bullet_createUserConstraint, METH_VARARGS | METH_KEYWORDS, "Create a constraint between two bodies. Returns a (int) unique id, if successfull."}, - {"changeConstraint", (PyCFunction)pybullet_changeUserConstraint, METH_VARARGS | METH_KEYWORDS, + {"changeConstraint", (PyCFunction)pycram_bullet_changeUserConstraint, METH_VARARGS | METH_KEYWORDS, "Change some parameters of an existing constraint, such as the child pivot or child frame orientation, using its unique id."}, - {"removeConstraint", (PyCFunction)pybullet_removeUserConstraint, METH_VARARGS | METH_KEYWORDS, + {"removeConstraint", (PyCFunction)pycram_bullet_removeUserConstraint, METH_VARARGS | METH_KEYWORDS, "Remove a constraint using its unique id."}, - {"enableJointForceTorqueSensor", (PyCFunction)pybullet_enableJointForceTorqueSensor, METH_VARARGS | METH_KEYWORDS, + {"enableJointForceTorqueSensor", (PyCFunction)pycram_bullet_enableJointForceTorqueSensor, METH_VARARGS | METH_KEYWORDS, "Enable or disable a joint force/torque sensor measuring the joint reaction forces."}, - {"saveWorld", (PyCFunction)pybullet_saveWorld, METH_VARARGS | METH_KEYWORDS, + {"saveWorld", (PyCFunction)pycram_bullet_saveWorld, METH_VARARGS | METH_KEYWORDS, "Save a approximate Python file to reproduce the current state of the world: saveWorld" "(filename). (very preliminary and approximately)"}, - {"getNumBodies", (PyCFunction)pybullet_getNumBodies, METH_VARARGS | METH_KEYWORDS, + {"getNumBodies", (PyCFunction)pycram_bullet_getNumBodies, METH_VARARGS | METH_KEYWORDS, "Get the number of bodies in the simulation."}, - {"getBodyUniqueId", (PyCFunction)pybullet_getBodyUniqueId, METH_VARARGS | METH_KEYWORDS, + {"getBodyUniqueId", (PyCFunction)pycram_bullet_getBodyUniqueId, METH_VARARGS | METH_KEYWORDS, "getBodyUniqueId is used after connecting to server with existing bodies." "Get the unique id of the body, given a integer range [0.. number of bodies)."}, - {"getBodyInfo", (PyCFunction)pybullet_getBodyInfo, METH_VARARGS | METH_KEYWORDS, + {"getBodyInfo", (PyCFunction)pycram_bullet_getBodyInfo, METH_VARARGS | METH_KEYWORDS, "Get the body info, given a body unique id."}, - { "computeDofCount", (PyCFunction)pybullet_computeDofCount, METH_VARARGS | METH_KEYWORDS, + { "computeDofCount", (PyCFunction)pycram_bullet_computeDofCount, METH_VARARGS | METH_KEYWORDS, "computeDofCount returns the number of degrees of freedom, including 7 degrees of freedom for the base in case of floating base" }, - {"syncBodyInfo", (PyCFunction)pybullet_syncBodyInfo, METH_VARARGS | METH_KEYWORDS, + {"syncBodyInfo", (PyCFunction)pycram_bullet_syncBodyInfo, METH_VARARGS | METH_KEYWORDS, "syncBodyInfo(physicsClientId=0)\n" "Update body and constraint/joint information, in case other clients made changes."}, - {"syncUserData", (PyCFunction)pybullet_syncUserData, METH_VARARGS | METH_KEYWORDS, + {"syncUserData", (PyCFunction)pycram_bullet_syncUserData, METH_VARARGS | METH_KEYWORDS, "syncUserData(bodyUniqueIds=[], physicsClientId=0)\n" "Update user data, in case other clients made changes."}, - {"addUserData", (PyCFunction)pybullet_addUserData, METH_VARARGS | METH_KEYWORDS, + {"addUserData", (PyCFunction)pycram_bullet_addUserData, METH_VARARGS | METH_KEYWORDS, "addUserData(bodyUniqueId, key, value, linkIndex=-1, visualShapeIndex=-1, physicsClientId=0)\n" "Adds or updates a user data entry. Returns user data identifier."}, - {"getUserData", (PyCFunction)pybullet_getUserData, METH_VARARGS | METH_KEYWORDS, + {"getUserData", (PyCFunction)pycram_bullet_getUserData, METH_VARARGS | METH_KEYWORDS, "getUserData(userDataId, physicsClientId=0)\n" "Returns the user data value."}, - {"removeUserData", (PyCFunction)pybullet_removeUserData, METH_VARARGS | METH_KEYWORDS, + {"removeUserData", (PyCFunction)pycram_bullet_removeUserData, METH_VARARGS | METH_KEYWORDS, "removeUserData(userDataId, physicsClientId=0)\n" "Removes a user data entry."}, - {"getUserDataId", (PyCFunction)pybullet_getUserDataId, METH_VARARGS | METH_KEYWORDS, + {"getUserDataId", (PyCFunction)pycram_bullet_getUserDataId, METH_VARARGS | METH_KEYWORDS, "getUserDataId(bodyUniqueId, key, linkIndex=-1, visualShapeIndex=-1, physicsClientId=0)\n" "Retrieves the userDataId given the key and optionally link and visual shape index."}, - {"getNumUserData", (PyCFunction)pybullet_getNumUserData, METH_VARARGS | METH_KEYWORDS, + {"getNumUserData", (PyCFunction)pycram_bullet_getNumUserData, METH_VARARGS | METH_KEYWORDS, "getNumUserData(bodyUniqueId physicsClientId=0)\n" "Retrieves the number of user data entries in a body."}, - {"getUserDataInfo", (PyCFunction)pybullet_getUserDataInfo, METH_VARARGS | METH_KEYWORDS, + {"getUserDataInfo", (PyCFunction)pycram_bullet_getUserDataInfo, METH_VARARGS | METH_KEYWORDS, "getUserDataInfo(bodyUniqueId, userDataIndex, physicsClientId=0)\n" "Retrieves the key and the identifier of a user data as (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)."}, - {"removeBody", (PyCFunction)pybullet_removeBody, METH_VARARGS | METH_KEYWORDS, + {"removeBody", (PyCFunction)pycram_bullet_removeBody, METH_VARARGS | METH_KEYWORDS, "Remove a body by its body unique id."}, - {"getNumConstraints", (PyCFunction)pybullet_getNumConstraints, METH_VARARGS | METH_KEYWORDS, + {"getNumConstraints", (PyCFunction)pycram_bullet_getNumConstraints, METH_VARARGS | METH_KEYWORDS, "Get the number of user-created constraints in the simulation."}, - {"getConstraintInfo", (PyCFunction)pybullet_getConstraintInfo, METH_VARARGS | METH_KEYWORDS, + {"getConstraintInfo", (PyCFunction)pycram_bullet_getConstraintInfo, METH_VARARGS | METH_KEYWORDS, "Get the user-created constraint info, given a constraint unique id."}, - {"getConstraintState", (PyCFunction)pybullet_getConstraintState, METH_VARARGS | METH_KEYWORDS, + {"getConstraintState", (PyCFunction)pycram_bullet_getConstraintState, METH_VARARGS | METH_KEYWORDS, "Get the user-created constraint state (applied forces), given a constraint unique id."}, - {"getConstraintUniqueId", (PyCFunction)pybullet_getConstraintUniqueId, METH_VARARGS | METH_KEYWORDS, + {"getConstraintUniqueId", (PyCFunction)pycram_bullet_getConstraintUniqueId, METH_VARARGS | METH_KEYWORDS, "Get the unique id of the constraint, given a integer index in range [0.. number of constraints)."}, - {"getBasePositionAndOrientation", (PyCFunction)pybullet_getBasePositionAndOrientation, + {"getBasePositionAndOrientation", (PyCFunction)pycram_bullet_getBasePositionAndOrientation, METH_VARARGS | METH_KEYWORDS, "Get the world position and orientation of the base of the object. " "(x,y,z) position vector and (x,y,z,w) quaternion orientation."}, - {"getAABB", (PyCFunction)pybullet_getAABB, + {"getAABB", (PyCFunction)pycram_bullet_getAABB, METH_VARARGS | METH_KEYWORDS, "Get the axis aligned bound box min and max coordinates in world space."}, {"resetBasePositionAndOrientation", - (PyCFunction)pybullet_resetBasePositionAndOrientation, METH_VARARGS | METH_KEYWORDS, + (PyCFunction)pycram_bullet_resetBasePositionAndOrientation, METH_VARARGS | METH_KEYWORDS, "Reset the world position and orientation of the base of the object " "instantaneously, not through physics simulation. (x,y,z) position vector " "and (x,y,z,w) quaternion orientation."}, { "unsupportedChangeScaling", - (PyCFunction)pybullet_changeScaling, METH_VARARGS | METH_KEYWORDS, + (PyCFunction)pycram_bullet_changeScaling, METH_VARARGS | METH_KEYWORDS, "Change the scaling of the base of an object." "Warning: unsupported rudimentary feature that has many limitations." }, - {"getBaseVelocity", (PyCFunction)pybullet_getBaseVelocity, + {"getBaseVelocity", (PyCFunction)pycram_bullet_getBaseVelocity, METH_VARARGS | METH_KEYWORDS, "Get the linear and angular velocity of the base of the object " " in world space coordinates. " "(x,y,z) linear velocity vector and (x,y,z) angular velocity vector."}, - {"resetBaseVelocity", (PyCFunction)pybullet_resetBaseVelocity, METH_VARARGS | METH_KEYWORDS, + {"resetBaseVelocity", (PyCFunction)pycram_bullet_resetBaseVelocity, METH_VARARGS | METH_KEYWORDS, "Reset the linear and/or angular velocity of the base of the object " " in world space coordinates. " "linearVelocity (x,y,z) and angularVelocity (x,y,z)."}, - {"getNumJoints", (PyCFunction)pybullet_getNumJoints, METH_VARARGS | METH_KEYWORDS, + {"getNumJoints", (PyCFunction)pycram_bullet_getNumJoints, METH_VARARGS | METH_KEYWORDS, "Get the number of joints for an object."}, - {"getJointInfo", (PyCFunction)pybullet_getJointInfo, METH_VARARGS | METH_KEYWORDS, + {"getJointInfo", (PyCFunction)pycram_bullet_getJointInfo, METH_VARARGS | METH_KEYWORDS, "Get the name and type info for a joint on a body."}, - {"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS, + {"getJointState", (PyCFunction)pycram_bullet_getJointState, METH_VARARGS | METH_KEYWORDS, "Get the state (position, velocity etc) for a joint on a body."}, - {"getJointStates", (PyCFunction)pybullet_getJointStates, METH_VARARGS | METH_KEYWORDS, + {"getJointStates", (PyCFunction)pycram_bullet_getJointStates, METH_VARARGS | METH_KEYWORDS, "Get the state (position, velocity etc) for multiple joints on a body."}, - { "getJointStateMultiDof", (PyCFunction)pybullet_getJointStateMultiDof, METH_VARARGS | METH_KEYWORDS, + { "getJointStateMultiDof", (PyCFunction)pycram_bullet_getJointStateMultiDof, METH_VARARGS | METH_KEYWORDS, "Get the state (position, velocity etc) for a joint on a body. (supports planar and spherical joints)" }, - { "getJointStatesMultiDof", (PyCFunction)pybullet_getJointStatesMultiDof, METH_VARARGS | METH_KEYWORDS, + { "getJointStatesMultiDof", (PyCFunction)pycram_bullet_getJointStatesMultiDof, METH_VARARGS | METH_KEYWORDS, "Get the states (position, velocity etc) for multiple joint on a body. (supports planar and spherical joints)" }, - {"getLinkState", (PyCFunction)pybullet_getLinkState, METH_VARARGS | METH_KEYWORDS, + {"getLinkState", (PyCFunction)pycram_bullet_getLinkState, METH_VARARGS | METH_KEYWORDS, "position_linkcom_world, world_rotation_linkcom,\n" "position_linkcom_frame, frame_rotation_linkcom,\n" "position_frame_world, world_rotation_frame,\n" @@ -12855,44 +12855,44 @@ static PyMethodDef SpamMethods[] = { " center of mass (COM) of the link, relative to the world reference" " frame."}, - { "getLinkStates", (PyCFunction)pybullet_getLinkStates, METH_VARARGS | METH_KEYWORDS, + { "getLinkStates", (PyCFunction)pycram_bullet_getLinkStates, METH_VARARGS | METH_KEYWORDS, "same as getLinkState except it takes a list of linkIndices" }, - {"resetJointState", (PyCFunction)pybullet_resetJointState, METH_VARARGS | METH_KEYWORDS, + {"resetJointState", (PyCFunction)pycram_bullet_resetJointState, METH_VARARGS | METH_KEYWORDS, "resetJointState(objectUniqueId, jointIndex, targetValue, targetVelocity=0, physicsClientId=0)\n" "Reset the state (position, velocity etc) for a joint on a body " "instantaneously, not through physics simulation."}, - {"resetJointStateMultiDof", (PyCFunction)pybullet_resetJointStateMultiDof, METH_VARARGS | METH_KEYWORDS, + {"resetJointStateMultiDof", (PyCFunction)pycram_bullet_resetJointStateMultiDof, METH_VARARGS | METH_KEYWORDS, "resetJointStateMultiDof(objectUniqueId, jointIndex, targetValue, targetVelocity=0, physicsClientId=0)\n" "Reset the state (position, velocity etc) for a joint on a body " "instantaneously, not through physics simulation."}, - { "resetJointStatesMultiDof", (PyCFunction)pybullet_resetJointStatesMultiDof, METH_VARARGS | METH_KEYWORDS, + { "resetJointStatesMultiDof", (PyCFunction)pycram_bullet_resetJointStatesMultiDof, METH_VARARGS | METH_KEYWORDS, "resetJointStatesMultiDof(objectUniqueId, jointIndices, targetValues, targetVelocities=0, physicsClientId=0)\n" "Reset the states (position, velocity etc) for multiple joints on a body " "instantaneously, not through physics simulation." }, - {"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS, + {"changeDynamics", (PyCFunction)pycram_bullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS, "change dynamics information such as mass, lateral friction coefficient."}, - {"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS, + {"getDynamicsInfo", (PyCFunction)pycram_bullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS, "Get dynamics information such as mass, lateral friction coefficient."}, - {"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS, + {"setJointMotorControl", (PyCFunction)pycram_bullet_setJointMotorControl, METH_VARARGS, "This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead." "Set a single joint motor control mode and desired target value. There is " "no immediate state change, stepSimulation will process the motors."}, - {"setJointMotorControl2", (PyCFunction)pybullet_setJointMotorControl2, METH_VARARGS | METH_KEYWORDS, + {"setJointMotorControl2", (PyCFunction)pycram_bullet_setJointMotorControl2, METH_VARARGS | METH_KEYWORDS, "Set a single joint motor control mode and desired target value. There is " "no immediate state change, stepSimulation will process the motors."}, - {"setJointMotorControlMultiDof", (PyCFunction)pybullet_setJointMotorControlMultiDof, METH_VARARGS | METH_KEYWORDS, + {"setJointMotorControlMultiDof", (PyCFunction)pycram_bullet_setJointMotorControlMultiDof, METH_VARARGS | METH_KEYWORDS, "Set a single joint motor control mode and desired target value. There is " "no immediate state change, stepSimulation will process the motors." "This method sets multi-degree-of-freedom motor such as the spherical joint motor."}, - { "setJointMotorControlMultiDofArray", (PyCFunction)pybullet_setJointMotorControlMultiDofArray, METH_VARARGS | METH_KEYWORDS, + { "setJointMotorControlMultiDofArray", (PyCFunction)pycram_bullet_setJointMotorControlMultiDofArray, METH_VARARGS | METH_KEYWORDS, "Set control mode and desired target values for multiple motors. There is " "no immediate state change, stepSimulation will process the motors." "This method sets multi-degree-of-freedom motor such as the spherical joint motor." }, @@ -12900,27 +12900,27 @@ static PyMethodDef SpamMethods[] = { - {"setJointMotorControlArray", (PyCFunction)pybullet_setJointMotorControlArray, METH_VARARGS | METH_KEYWORDS, + {"setJointMotorControlArray", (PyCFunction)pycram_bullet_setJointMotorControlArray, METH_VARARGS | METH_KEYWORDS, "Set an array of motors control mode and desired target value. There is " "no immediate state change, stepSimulation will process the motors." "This is similar to setJointMotorControl2, with jointIndices as a list, and optional targetPositions, " "targetVelocities, forces, kds and kps as lists" "Using setJointMotorControlArray has the benefit of lower calling overhead."}, - {"applyExternalForce", (PyCFunction)pybullet_applyExternalForce, METH_VARARGS | METH_KEYWORDS, + {"applyExternalForce", (PyCFunction)pycram_bullet_applyExternalForce, METH_VARARGS | METH_KEYWORDS, "for objectUniqueId, linkIndex (-1 for base/root link), apply a force " "[x,y,z] at the a position [x,y,z], flag to select FORCE_IN_LINK_FRAME or " "WORLD_FRAME coordinates"}, - {"applyExternalTorque", (PyCFunction)pybullet_applyExternalTorque, METH_VARARGS | METH_KEYWORDS, + {"applyExternalTorque", (PyCFunction)pycram_bullet_applyExternalTorque, METH_VARARGS | METH_KEYWORDS, "for objectUniqueId, linkIndex (-1 for base/root link) apply a torque " "[x,y,z] in Cartesian coordinates, flag to select TORQUE_IN_LINK_FRAME or " "WORLD_FRAME coordinates"}, - {"renderImage", pybullet_renderImageObsolete, METH_VARARGS, + {"renderImage", pycram_bullet_renderImageObsolete, METH_VARARGS, "obsolete, please use getCameraImage and getViewProjectionMatrices instead"}, - {"getCameraImage", (PyCFunction)pybullet_getCameraImage, METH_VARARGS | METH_KEYWORDS, + {"getCameraImage", (PyCFunction)pycram_bullet_getCameraImage, METH_VARARGS | METH_KEYWORDS, "Render an image (given the pixel resolution width, height, camera viewMatrix " ", projectionMatrix, lightDirection, lightColor, lightDistance, shadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff, and renderer), and return the " "8-8-8bit RGB pixel data and floating point depth values" @@ -12929,143 +12929,143 @@ static PyMethodDef SpamMethods[] = { #endif }, - {"isNumpyEnabled", (PyCFunction)pybullet_isNumpyEnabled, METH_VARARGS | METH_KEYWORDS, + {"isNumpyEnabled", (PyCFunction)pycram_bullet_isNumpyEnabled, METH_VARARGS | METH_KEYWORDS, "return True if PyBullet was compiled with NUMPY support. This makes the getCameraImage API faster"}, - {"computeViewMatrix", (PyCFunction)pybullet_computeViewMatrix, METH_VARARGS | METH_KEYWORDS, + {"computeViewMatrix", (PyCFunction)pycram_bullet_computeViewMatrix, METH_VARARGS | METH_KEYWORDS, "Compute a camera viewmatrix from camera eye, target position and up vector "}, - {"computeViewMatrixFromYawPitchRoll", (PyCFunction)pybullet_computeViewMatrixFromYawPitchRoll, METH_VARARGS | METH_KEYWORDS, + {"computeViewMatrixFromYawPitchRoll", (PyCFunction)pycram_bullet_computeViewMatrixFromYawPitchRoll, METH_VARARGS | METH_KEYWORDS, "Compute a camera viewmatrix from camera eye, target position and up vector "}, - {"computeProjectionMatrix", (PyCFunction)pybullet_computeProjectionMatrix, METH_VARARGS | METH_KEYWORDS, + {"computeProjectionMatrix", (PyCFunction)pycram_bullet_computeProjectionMatrix, METH_VARARGS | METH_KEYWORDS, "Compute a camera projection matrix from screen left/right/bottom/top/near/far values"}, - {"computeProjectionMatrixFOV", (PyCFunction)pybullet_computeProjectionMatrixFOV, METH_VARARGS | METH_KEYWORDS, + {"computeProjectionMatrixFOV", (PyCFunction)pycram_bullet_computeProjectionMatrixFOV, METH_VARARGS | METH_KEYWORDS, "Compute a camera projection matrix from fov, aspect ratio, near, far values"}, - {"getContactPoints", (PyCFunction)pybullet_getContactPointData, METH_VARARGS | METH_KEYWORDS, + {"getContactPoints", (PyCFunction)pycram_bullet_getContactPointData, METH_VARARGS | METH_KEYWORDS, "Return existing contact points after the stepSimulation command. " "Optional arguments one or two object unique " "ids, that need to be involved in the contact."}, - {"getClosestPoints", (PyCFunction)pybullet_getClosestPointData, METH_VARARGS | METH_KEYWORDS, + {"getClosestPoints", (PyCFunction)pycram_bullet_getClosestPointData, METH_VARARGS | METH_KEYWORDS, "Compute the closest points between two objects, if the distance is below a given threshold." "Input is two objects unique ids and distance threshold."}, - {"getOverlappingObjects", (PyCFunction)pybullet_getOverlappingObjects, METH_VARARGS | METH_KEYWORDS, + {"getOverlappingObjects", (PyCFunction)pycram_bullet_getOverlappingObjects, METH_VARARGS | METH_KEYWORDS, "Return all the objects that have overlap with a given " "axis-aligned bounding box volume (AABB)." "Input are two vectors defining the AABB in world space [min_x,min_y,min_z],[max_x,max_y,max_z]."}, - {"setCollisionFilterPair", (PyCFunction)pybullet_setCollisionFilterPair, METH_VARARGS | METH_KEYWORDS, + {"setCollisionFilterPair", (PyCFunction)pycram_bullet_setCollisionFilterPair, METH_VARARGS | METH_KEYWORDS, "Enable or disable collision detection between two object links." "Input are two object unique ids and two link indices and an enum" "to enable or disable collisions."}, - {"setCollisionFilterGroupMask", (PyCFunction)pybullet_setCollisionFilterGroupMask, METH_VARARGS | METH_KEYWORDS, + {"setCollisionFilterGroupMask", (PyCFunction)pycram_bullet_setCollisionFilterGroupMask, METH_VARARGS | METH_KEYWORDS, "Set the collision filter group and the mask for a body."}, - {"addUserDebugLine", (PyCFunction)pybullet_addUserDebugLine, METH_VARARGS | METH_KEYWORDS, + {"addUserDebugLine", (PyCFunction)pycram_bullet_addUserDebugLine, METH_VARARGS | METH_KEYWORDS, "Add a user debug draw line with lineFrom[3], lineTo[3], lineColorRGB[3], lineWidth, lifeTime. " "A lifeTime of 0 means permanent until removed. Returns a unique id for the user debug item."}, - {"addUserDebugPoints", (PyCFunction)pybullet_addUserDebugPoints, METH_VARARGS | METH_KEYWORDS, + {"addUserDebugPoints", (PyCFunction)pycram_bullet_addUserDebugPoints, METH_VARARGS | METH_KEYWORDS, "Add user debug draw points with pointPositions[3], pointColorsRGB[3], pointSize, lifeTime. " "A lifeTime of 0 means permanent until removed. Returns a unique id for the user debug item."}, - {"addUserDebugText", (PyCFunction)pybullet_addUserDebugText, METH_VARARGS | METH_KEYWORDS, + {"addUserDebugText", (PyCFunction)pycram_bullet_addUserDebugText, METH_VARARGS | METH_KEYWORDS, "Add a user debug draw line with text, textPosition[3], textSize and lifeTime in seconds " "A lifeTime of 0 means permanent until removed. Returns a unique id for the user debug item."}, - {"addUserDebugParameter", (PyCFunction)pybullet_addUserDebugParameter, METH_VARARGS | METH_KEYWORDS, + {"addUserDebugParameter", (PyCFunction)pycram_bullet_addUserDebugParameter, METH_VARARGS | METH_KEYWORDS, "Add a user debug parameter, such as a slider, that can be controlled using a GUI."}, - {"readUserDebugParameter", (PyCFunction)pybullet_readUserDebugParameter, METH_VARARGS | METH_KEYWORDS, + {"readUserDebugParameter", (PyCFunction)pycram_bullet_readUserDebugParameter, METH_VARARGS | METH_KEYWORDS, "Read the current value of a user debug parameter, given the user debug item unique id."}, - {"removeUserDebugItem", (PyCFunction)pybullet_removeUserDebugItem, METH_VARARGS | METH_KEYWORDS, + {"removeUserDebugItem", (PyCFunction)pycram_bullet_removeUserDebugItem, METH_VARARGS | METH_KEYWORDS, "remove a user debug draw item, giving its unique id"}, - {"removeAllUserDebugItems", (PyCFunction)pybullet_removeAllUserDebugItems, METH_VARARGS | METH_KEYWORDS, + {"removeAllUserDebugItems", (PyCFunction)pycram_bullet_removeAllUserDebugItems, METH_VARARGS | METH_KEYWORDS, "remove all user debug draw items"}, - { "removeAllUserParameters", (PyCFunction)pybullet_removeAllUserParameters, METH_VARARGS | METH_KEYWORDS, + { "removeAllUserParameters", (PyCFunction)pycram_bullet_removeAllUserParameters, METH_VARARGS | METH_KEYWORDS, "remove all user debug parameters (sliders, buttons)" }, - {"setDebugObjectColor", (PyCFunction)pybullet_setDebugObjectColor, METH_VARARGS | METH_KEYWORDS, + {"setDebugObjectColor", (PyCFunction)pycram_bullet_setDebugObjectColor, METH_VARARGS | METH_KEYWORDS, "Override the wireframe debug drawing color for a particular object unique id / link index." "If you ommit the color, the custom color will be removed."}, - {"getDebugVisualizerCamera", (PyCFunction)pybullet_getDebugVisualizerCamera, METH_VARARGS | METH_KEYWORDS, + {"getDebugVisualizerCamera", (PyCFunction)pycram_bullet_getDebugVisualizerCamera, METH_VARARGS | METH_KEYWORDS, "Get information about the 3D visualizer camera, such as width, height, view matrix, projection matrix etc."}, - {"configureDebugVisualizer", (PyCFunction)pybullet_configureDebugVisualizer, METH_VARARGS | METH_KEYWORDS, + {"configureDebugVisualizer", (PyCFunction)pycram_bullet_configureDebugVisualizer, METH_VARARGS | METH_KEYWORDS, "For the 3D OpenGL Visualizer, enable/disable GUI, shadows."}, - {"resetDebugVisualizerCamera", (PyCFunction)pybullet_resetDebugVisualizerCamera, METH_VARARGS | METH_KEYWORDS, + {"resetDebugVisualizerCamera", (PyCFunction)pycram_bullet_resetDebugVisualizerCamera, METH_VARARGS | METH_KEYWORDS, "For the 3D OpenGL Visualizer, set the camera distance, yaw, pitch and target position."}, - {"getVisualShapeData", (PyCFunction)pybullet_getVisualShapeData, METH_VARARGS | METH_KEYWORDS, + {"getVisualShapeData", (PyCFunction)pycram_bullet_getVisualShapeData, METH_VARARGS | METH_KEYWORDS, "Return the visual shape information for one object."}, - {"getCollisionShapeData", (PyCFunction)pybullet_getCollisionShapeData, METH_VARARGS | METH_KEYWORDS, + {"getCollisionShapeData", (PyCFunction)pycram_bullet_getCollisionShapeData, METH_VARARGS | METH_KEYWORDS, "Return the collision shape information for one object."}, - {"changeVisualShape", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS, + {"changeVisualShape", (PyCFunction)pycram_bullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS, "Change part of the visual shape information for one object."}, - {"resetVisualShapeData", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS, + {"resetVisualShapeData", (PyCFunction)pycram_bullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS, "Obsolete method, kept for backward compatibility, use changeVisualShapeData instead."}, - {"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS, + {"loadTexture", (PyCFunction)pycram_bullet_loadTexture, METH_VARARGS | METH_KEYWORDS, "Load texture file."}, - {"changeTexture", (PyCFunction)pybullet_changeTexture, METH_VARARGS | METH_KEYWORDS, + {"changeTexture", (PyCFunction)pycram_bullet_changeTexture, METH_VARARGS | METH_KEYWORDS, "Change a texture file."}, - {"getQuaternionFromEuler", (PyCFunction)pybullet_getQuaternionFromEuler, METH_VARARGS | METH_KEYWORDS, + {"getQuaternionFromEuler", (PyCFunction)pycram_bullet_getQuaternionFromEuler, METH_VARARGS | METH_KEYWORDS, "Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to " "quaternion [x,y,z,w]"}, - {"getEulerFromQuaternion", (PyCFunction)pybullet_getEulerFromQuaternion, METH_VARARGS | METH_KEYWORDS, + {"getEulerFromQuaternion", (PyCFunction)pycram_bullet_getEulerFromQuaternion, METH_VARARGS | METH_KEYWORDS, "Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF " "convention"}, - {"multiplyTransforms", (PyCFunction)pybullet_multiplyTransforms, METH_VARARGS | METH_KEYWORDS, + {"multiplyTransforms", (PyCFunction)pycram_bullet_multiplyTransforms, METH_VARARGS | METH_KEYWORDS, "Multiply two transform, provided as [position], [quaternion]."}, - {"invertTransform", (PyCFunction)pybullet_invertTransform, METH_VARARGS | METH_KEYWORDS, + {"invertTransform", (PyCFunction)pycram_bullet_invertTransform, METH_VARARGS | METH_KEYWORDS, "Invert a transform, provided as [position], [quaternion]."}, - {"getMatrixFromQuaternion", (PyCFunction)pybullet_getMatrixFromQuaternion, METH_VARARGS | METH_KEYWORDS, + {"getMatrixFromQuaternion", (PyCFunction)pycram_bullet_getMatrixFromQuaternion, METH_VARARGS | METH_KEYWORDS, "Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"}, - {"getQuaternionSlerp", (PyCFunction)pybullet_getQuaternionSlerp, METH_VARARGS | METH_KEYWORDS, + {"getQuaternionSlerp", (PyCFunction)pycram_bullet_getQuaternionSlerp, METH_VARARGS | METH_KEYWORDS, "Compute the spherical interpolation given a start and end quaternion and an interpolation value in range [0..1]"}, - {"getQuaternionFromAxisAngle", (PyCFunction)pybullet_getQuaternionFromAxisAngle, METH_VARARGS | METH_KEYWORDS, + {"getQuaternionFromAxisAngle", (PyCFunction)pycram_bullet_getQuaternionFromAxisAngle, METH_VARARGS | METH_KEYWORDS, "Compute the quaternion from axis and angle representation."}, - {"getAxisAngleFromQuaternion", (PyCFunction)pybullet_getAxisAngleFromQuaternion, METH_VARARGS | METH_KEYWORDS, + {"getAxisAngleFromQuaternion", (PyCFunction)pycram_bullet_getAxisAngleFromQuaternion, METH_VARARGS | METH_KEYWORDS, "Compute the quaternion from axis and angle representation."}, - {"getDifferenceQuaternion", (PyCFunction)pybullet_getDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS, + {"getDifferenceQuaternion", (PyCFunction)pycram_bullet_getDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS, "Compute the quaternion difference from two quaternions."}, - {"getAxisDifferenceQuaternion", (PyCFunction)pybullet_getAxisDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS, + {"getAxisDifferenceQuaternion", (PyCFunction)pycram_bullet_getAxisDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS, "Compute the velocity axis difference from two quaternions."}, - {"calculateVelocityQuaternion", (PyCFunction)pybullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS, + {"calculateVelocityQuaternion", (PyCFunction)pycram_bullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS, "Compute the angular velocity given start and end quaternion and delta time."}, - {"rotateVector", (PyCFunction)pybullet_rotateVector, METH_VARARGS | METH_KEYWORDS, + {"rotateVector", (PyCFunction)pycram_bullet_rotateVector, METH_VARARGS | METH_KEYWORDS, "Rotate a vector using a quaternion."}, - {"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS, + {"calculateInverseDynamics", (PyCFunction)pycram_bullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS, "Given an object id, joint positions, joint velocities and joint " "accelerations, compute the joint forces using Inverse Dynamics"}, - {"calculateJacobian", (PyCFunction)pybullet_calculateJacobian, METH_VARARGS | METH_KEYWORDS, + {"calculateJacobian", (PyCFunction)pycram_bullet_calculateJacobian, METH_VARARGS | METH_KEYWORDS, "linearJacobian, angularJacobian = calculateJacobian(bodyUniqueId, " "linkIndex, localPosition, objPositions, objVelocities, objAccelerations, physicsClientId=0)\n" "Compute the jacobian for a specified local position on a body and its kinematics.\n" @@ -13080,7 +13080,7 @@ static PyMethodDef SpamMethods[] = { " linearJacobian - a list of the partial linear velocities of the jacobian.\n" " angularJacobian - a list of the partial angular velocities of the jacobian.\n"}, - {"calculateMassMatrix", (PyCFunction)pybullet_calculateMassMatrix, METH_VARARGS | METH_KEYWORDS, + {"calculateMassMatrix", (PyCFunction)pycram_bullet_calculateMassMatrix, METH_VARARGS | METH_KEYWORDS, "massMatrix = calculateMassMatrix(bodyUniqueId, objPositions, physicsClientId=0)\n" "Compute the mass matrix for an object and its chain of bodies.\n" "Args:\n" @@ -13090,13 +13090,13 @@ static PyMethodDef SpamMethods[] = { " massMatrix - a list of lists of the mass matrix components.\n"}, - {"calculateInverseKinematics", (PyCFunction)pybullet_calculateInverseKinematics, + {"calculateInverseKinematics", (PyCFunction)pycram_bullet_calculateInverseKinematics, METH_VARARGS | METH_KEYWORDS, "Inverse Kinematics bindings: Given an object id, " "current joint positions and target position" " for the end effector," "compute the inverse kinematics and return the new joint state"}, - { "calculateInverseKinematics2", (PyCFunction)pybullet_calculateInverseKinematics2, + { "calculateInverseKinematics2", (PyCFunction)pycram_bullet_calculateInverseKinematics2, METH_VARARGS | METH_KEYWORDS, "Inverse Kinematics bindings: Given an object id, " "current joint positions and target positions" @@ -13104,58 +13104,58 @@ static PyMethodDef SpamMethods[] = { "compute the inverse kinematics and return the new joint state" }, - {"getVREvents", (PyCFunction)pybullet_getVREvents, METH_VARARGS | METH_KEYWORDS, + {"getVREvents", (PyCFunction)pycram_bullet_getVREvents, METH_VARARGS | METH_KEYWORDS, "Get Virtual Reality events, for example to track VR controllers position/buttons"}, - {"setVRCameraState", (PyCFunction)pybullet_setVRCameraState, METH_VARARGS | METH_KEYWORDS, + {"setVRCameraState", (PyCFunction)pycram_bullet_setVRCameraState, METH_VARARGS | METH_KEYWORDS, "Set properties of the VR Camera such as its root transform " "for teleporting or to track objects (camera inside a vehicle for example)."}, - {"getKeyboardEvents", (PyCFunction)pybullet_getKeyboardEvents, METH_VARARGS | METH_KEYWORDS, + {"getKeyboardEvents", (PyCFunction)pycram_bullet_getKeyboardEvents, METH_VARARGS | METH_KEYWORDS, "Get keyboard events, keycode and state (KEY_IS_DOWN, KEY_WAS_TRIGGERED, KEY_WAS_RELEASED)"}, - {"getMouseEvents", (PyCFunction)pybullet_getMouseEvents, METH_VARARGS | METH_KEYWORDS, + {"getMouseEvents", (PyCFunction)pycram_bullet_getMouseEvents, METH_VARARGS | METH_KEYWORDS, "Get mouse events, event type and button state (KEY_IS_DOWN, KEY_WAS_TRIGGERED, KEY_WAS_RELEASED)"}, - {"startStateLogging", (PyCFunction)pybullet_startStateLogging, METH_VARARGS | METH_KEYWORDS, + {"startStateLogging", (PyCFunction)pycram_bullet_startStateLogging, METH_VARARGS | METH_KEYWORDS, "Start logging of state, such as robot base position, orientation, joint positions etc. " "Specify loggingType (STATE_LOGGING_MINITAUR, STATE_LOGGING_GENERIC_ROBOT, STATE_LOGGING_VR_CONTROLLERS, STATE_LOGGING_CONTACT_POINTS, etc), " "fileName, optional objectUniqueId, maxLogDof, bodyUniqueIdA, bodyUniqueIdB, linkIndexA, linkIndexB. Function returns int loggingUniqueId"}, - {"stopStateLogging", (PyCFunction)pybullet_stopStateLogging, METH_VARARGS | METH_KEYWORDS, + {"stopStateLogging", (PyCFunction)pycram_bullet_stopStateLogging, METH_VARARGS | METH_KEYWORDS, "Stop logging of robot state, given a loggingUniqueId."}, - {"rayTest", (PyCFunction)pybullet_rayTestObsolete, METH_VARARGS | METH_KEYWORDS, + {"rayTest", (PyCFunction)pycram_bullet_rayTestObsolete, METH_VARARGS | METH_KEYWORDS, "Cast a ray and return the first object hit, if any. " "Takes two arguments (from_position [x,y,z] and to_position [x,y,z] in Cartesian world coordinates"}, - {"rayTestBatch", (PyCFunction)pybullet_rayTestBatch, METH_VARARGS | METH_KEYWORDS, + {"rayTestBatch", (PyCFunction)pycram_bullet_rayTestBatch, METH_VARARGS | METH_KEYWORDS, "Cast a batch of rays and return the result for each of the rays (first object hit, if any. or -1) " "Takes two required arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates) " "and one optional argument numThreads to specify the number of threads to use to compute the ray intersections for the batch. " "Specify 0 to let Bullet decide, 1 (default) for single core execution, 2 or more to select the number of threads to use."}, - {"loadPlugin", (PyCFunction)pybullet_loadPlugin, METH_VARARGS | METH_KEYWORDS, + {"loadPlugin", (PyCFunction)pycram_bullet_loadPlugin, METH_VARARGS | METH_KEYWORDS, "Load a plugin, could implement custom commands etc."}, - {"unloadPlugin", (PyCFunction)pybullet_unloadPlugin, METH_VARARGS | METH_KEYWORDS, + {"unloadPlugin", (PyCFunction)pycram_bullet_unloadPlugin, METH_VARARGS | METH_KEYWORDS, "Unload a plugin, given the pluginUniqueId."}, - {"executePluginCommand", (PyCFunction)pybullet_executePluginCommand, METH_VARARGS | METH_KEYWORDS, + {"executePluginCommand", (PyCFunction)pycram_bullet_executePluginCommand, METH_VARARGS | METH_KEYWORDS, "Execute a command, implemented in a plugin."}, - {"submitProfileTiming", (PyCFunction)pybullet_submitProfileTiming, METH_VARARGS | METH_KEYWORDS, + {"submitProfileTiming", (PyCFunction)pycram_bullet_submitProfileTiming, METH_VARARGS | METH_KEYWORDS, "Add a custom profile timing that will be visible in performance profile recordings on the physics server." "On the physics server (in GUI and VR mode) you can press 'p' to start and/or stop profile recordings"}, - {"setTimeOut", (PyCFunction)pybullet_setTimeOut, METH_VARARGS | METH_KEYWORDS, + {"setTimeOut", (PyCFunction)pycram_bullet_setTimeOut, METH_VARARGS | METH_KEYWORDS, "Set the timeOut in seconds, used for most of the API calls."}, #ifdef BT_ENABLE_VHACD - {"vhacd", (PyCFunction)pybullet_vhacd, METH_VARARGS | METH_KEYWORDS, + {"vhacd", (PyCFunction)pycram_bullet_vhacd, METH_VARARGS | METH_KEYWORDS, "Compute volume hierarchical convex decomposition of an OBJ file."}, #endif //BT_ENABLE_VHACD - {"setAdditionalSearchPath", (PyCFunction)pybullet_setAdditionalSearchPath, + {"setAdditionalSearchPath", (PyCFunction)pycram_bullet_setAdditionalSearchPath, METH_VARARGS | METH_KEYWORDS, "Set an additional search path, used to load URDF/SDF files."}, - {"getAPIVersion", (PyCFunction)pybullet_getAPIVersion, + {"getAPIVersion", (PyCFunction)pycram_bullet_getAPIVersion, METH_VARARGS | METH_KEYWORDS, "Get version of the API. Compatibility exists for connections using the same API version. Make sure both client and server use the same number of bits (32-bit or 64bit)."}, @@ -13207,7 +13207,7 @@ enum #if PY_MAJOR_VERSION >= 3 static struct PyModuleDef moduledef = { - PyModuleDef_HEAD_INIT, "pybullet", /* m_name */ + PyModuleDef_HEAD_INIT, "pycram_bullet", /* m_name */ "Python bindings for Bullet Physics Robotics API (also known as Shared " "Memory API)", /* m_doc */ -1, /* m_size */ @@ -13224,16 +13224,16 @@ __attribute__((visibility ("default"))) #endif PyMODINIT_FUNC #if PY_MAJOR_VERSION >= 3 -PyInit_pybullet(void) +PyInit_pycram_bullet(void) #else -initpybullet(void) +initpycram_bullet(void) #endif { PyObject* m; #if PY_MAJOR_VERSION >= 3 m = PyModule_Create(&moduledef); #else - m = Py_InitModule3("pybullet", SpamMethods, "Python bindings for Bullet"); + m = Py_InitModule3("pycram_bullet", SpamMethods, "Python bindings for Bullet"); #endif #if PY_MAJOR_VERSION >= 3 @@ -13469,12 +13469,12 @@ initpybullet(void) PyModule_AddIntConstant(m, "ZipFileIO", eZipFileIO); PyModule_AddIntConstant(m, "CNSFileIO", eCNSFileIO); - SpamError = PyErr_NewException("pybullet.error", NULL, NULL); + SpamError = PyErr_NewException("pycram_bullet.error", NULL, NULL); Py_INCREF(SpamError); PyModule_AddObject(m, "error", SpamError); - fprintf(stderr, "pybullet build time: %s %s\n", __DATE__, __TIME__); + fprintf(stderr, "pycram_bullet build time: %s %s\n", __DATE__, __TIME__); - Py_AtExit(b3pybulletExitFunc); + Py_AtExit(b3pycram_bulletExitFunc); #ifdef PYBULLET_USE_NUMPY // Initialize numpy array. diff --git a/examples/pybullet/tensorflow/humanoid_running.py b/examples/pycram_bullet/tensorflow/humanoid_running.py similarity index 99% rename from examples/pybullet/tensorflow/humanoid_running.py rename to examples/pycram_bullet/tensorflow/humanoid_running.py index aedbb12782..5fb278f356 100644 --- a/examples/pybullet/tensorflow/humanoid_running.py +++ b/examples/pycram_bullet/tensorflow/humanoid_running.py @@ -6,7 +6,7 @@ import sys import numpy as np import argparse -import pybullet as p +import pycram_bullet as p import time cid = p.connect(p.SHARED_MEMORY) @@ -208,7 +208,7 @@ def demo_run(): print("############################### distance = %0.2f meters" % dummy.distance) print("############################### FPS = ", 1000 / (t2 - t1)) #print("Starting benchmark") - #logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json") + #logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pycram_bullet_humanoid_timings.json") #p.stopStateLogging(logId) print("ended benchmark") print(frame) diff --git a/examples/pybullet/tensorflow/humanoid_running_vr_follow.py b/examples/pycram_bullet/tensorflow/humanoid_running_vr_follow.py similarity index 99% rename from examples/pybullet/tensorflow/humanoid_running_vr_follow.py rename to examples/pycram_bullet/tensorflow/humanoid_running_vr_follow.py index 98564c0914..a9a24203e2 100644 --- a/examples/pybullet/tensorflow/humanoid_running_vr_follow.py +++ b/examples/pycram_bullet/tensorflow/humanoid_running_vr_follow.py @@ -6,7 +6,7 @@ import sys import numpy as np -import pybullet as p +import pycram_bullet as p import time p.connect(p.SHARED_MEMORY) #DIRECT is much faster, but GUI shows the running gait p.resetSimulation() @@ -198,7 +198,7 @@ def demo_run(): print("############################### distance = %0.2f meters" % dummy.distance) print("############################### FPS = ", 1000 / (t2 - t1)) #print("Starting benchmark") - #logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json") + #logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pycram_bullet_humanoid_timings.json") #p.stopStateLogging(logId) print("ended benchmark") print(frame) diff --git a/examples/pybullet/unittests/saveRestoreStateTest.py b/examples/pycram_bullet/unittests/saveRestoreStateTest.py similarity index 99% rename from examples/pybullet/unittests/saveRestoreStateTest.py rename to examples/pycram_bullet/unittests/saveRestoreStateTest.py index bd4b1d9d1c..de037371f9 100644 --- a/examples/pybullet/unittests/saveRestoreStateTest.py +++ b/examples/pycram_bullet/unittests/saveRestoreStateTest.py @@ -1,5 +1,5 @@ import unittest -import pybullet as p +import pycram_bullet as p import math, time import difflib, sys diff --git a/examples/pybullet/unittests/unittests.py b/examples/pycram_bullet/unittests/unittests.py similarity index 94% rename from examples/pybullet/unittests/unittests.py rename to examples/pycram_bullet/unittests/unittests.py index 74dd423d4f..ec34113db8 100644 --- a/examples/pybullet/unittests/unittests.py +++ b/examples/pycram_bullet/unittests/unittests.py @@ -1,5 +1,5 @@ import unittest -import pybullet +import pycram_bullet import time from utils import allclose, dot @@ -8,24 +8,24 @@ class TestPybulletMethods(unittest.TestCase): def test_import(self): - import pybullet as p + import pycram_bullet as p self.assertGreater(p.getAPIVersion(), 201700000) def test_connect_direct(self): - import pybullet as p + import pycram_bullet as p cid = p.connect(p.DIRECT) self.assertEqual(cid, 0) p.disconnect() def test_loadurdf(self): - import pybullet as p + import pycram_bullet as p p.connect(p.DIRECT) ob = p.loadURDF("r2d2.urdf") self.assertEqual(ob, 0) p.disconnect() def test_rolling_friction(self): - import pybullet as p + import pycram_bullet as p p.connect(p.DIRECT) p.loadURDF("plane.urdf") sphere = p.loadURDF("sphere2.urdf", [0, 0, 1]) @@ -48,7 +48,7 @@ def test_rolling_friction(self): class TestPybulletJacobian(unittest.TestCase): def getMotorJointStates(self, robot): - import pybullet as p + import pycram_bullet as p joint_states = p.getJointStates(robot, range(p.getNumJoints(robot))) joint_infos = [p.getJointInfo(robot, i) for i in range(p.getNumJoints(robot))] joint_states = [j for j, i in zip(joint_states, joint_infos) if i[3] > -1] @@ -58,7 +58,7 @@ def getMotorJointStates(self, robot): return joint_positions, joint_velocities, joint_torques def setJointPosition(self, robot, position, kp=1.0, kv=0.3): - import pybullet as p + import pycram_bullet as p num_joints = p.getNumJoints(robot) zero_vec = [0.0] * num_joints if len(position) == num_joints: @@ -71,7 +71,7 @@ def setJointPosition(self, robot, position, kp=1.0, kv=0.3): velocityGains=[kv] * num_joints) def testJacobian(self): - import pybullet as p + import pycram_bullet as p clid = p.connect(p.SHARED_MEMORY) if (clid < 0): diff --git a/examples/pybullet/unittests/userDataTest.py b/examples/pycram_bullet/unittests/userDataTest.py similarity index 94% rename from examples/pybullet/unittests/userDataTest.py rename to examples/pycram_bullet/unittests/userDataTest.py index 1a10fcb905..b0fd6fc3f0 100644 --- a/examples/pybullet/unittests/userDataTest.py +++ b/examples/pycram_bullet/unittests/userDataTest.py @@ -1,7 +1,7 @@ import unittest -import pybullet +import pycram_bullet -from pybullet_utils import bullet_client +from pycram_bullet_utils import bullet_client PLANE_PATH = "plane.urdf" ROBOT_PATH = "r2d2.urdf" @@ -13,14 +13,14 @@ class TestUserDataMethods(unittest.TestCase): @classmethod def setUpClass(cls): TestUserDataMethods.server = bullet_client.BulletClient( - connection_mode=pybullet.SHARED_MEMORY_SERVER) + connection_mode=pycram_bullet.SHARED_MEMORY_SERVER) @classmethod def tearDownClass(cls): del TestUserDataMethods.server def setUp(self): - self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + self.client = bullet_client.BulletClient(pycram_bullet.SHARED_MEMORY) def tearDown(self): self.client.resetSimulation() @@ -64,7 +64,7 @@ def testAddUserData(self): # Disconnect/reconnect and make sure that the user data is synced back. del self.client - self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + self.client = bullet_client.BulletClient(pycram_bullet.SHARED_MEMORY) self.assertEqual(b"MyValue1", self.client.getUserData(uid1)) self.assertEqual(b"MyValue2", self.client.getUserData(uid2)) @@ -87,7 +87,7 @@ def testGetNumUserData(self): self.assertEqual(4, self.client.getNumUserData(plane_id)) del self.client - self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + self.client = bullet_client.BulletClient(pycram_bullet.SHARED_MEMORY) self.assertEqual(4, self.client.getNumUserData(plane_id)) @@ -102,7 +102,7 @@ def testReplaceUserData(self): self.assertEqual(b"MyNewValue", self.client.getUserData(uid)) del self.client - self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + self.client = bullet_client.BulletClient(pycram_bullet.SHARED_MEMORY) self.assertEqual(b"MyNewValue", self.client.getUserData(uid)) @@ -119,7 +119,7 @@ def testGetUserDataId(self): self.assertEqual(uid4, self.client.getUserDataId(plane_id, "MyKey4")) del self.client - self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + self.client = bullet_client.BulletClient(pycram_bullet.SHARED_MEMORY) self.assertEqual(uid1, self.client.getUserDataId(plane_id, "MyKey1")) self.assertEqual(uid2, self.client.getUserDataId(plane_id, "MyKey2")) @@ -143,7 +143,7 @@ def testRemoveUserData(self): self.assertEqual(b"MyValue4", self.client.getUserData(uid4)) del self.client - self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + self.client = bullet_client.BulletClient(pycram_bullet.SHARED_MEMORY) self.assertEqual(3, self.client.getNumUserData(plane_id)) self.assertEqual(-1, self.client.getUserDataId(plane_id, "MyKey2")) @@ -186,7 +186,7 @@ def testRemoveBody(self): self.assertEqual(None, self.client.getUserData(uid4)) del self.client - self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + self.client = bullet_client.BulletClient(pycram_bullet.SHARED_MEMORY) self.assertEqual(None, self.client.getUserData(uid1)) self.assertEqual(None, self.client.getUserData(uid2)) @@ -236,7 +236,7 @@ def testMultipleLinks(self): def testMultipleClients(self): client1 = self.client - client2 = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + client2 = bullet_client.BulletClient(pycram_bullet.SHARED_MEMORY) plane_id = client1.loadURDF(PLANE_PATH) client2.syncBodyInfo() diff --git a/examples/pybullet/unittests/utils.py b/examples/pycram_bullet/unittests/utils.py similarity index 100% rename from examples/pybullet/unittests/utils.py rename to examples/pycram_bullet/unittests/utils.py diff --git a/examples/pybullet/unity3d/autogen/NativeMethods.cs b/examples/pycram_bullet/unity3d/autogen/NativeMethods.cs similarity index 99% rename from examples/pybullet/unity3d/autogen/NativeMethods.cs rename to examples/pycram_bullet/unity3d/autogen/NativeMethods.cs index 532eef5579..045caa990f 100644 --- a/examples/pybullet/unity3d/autogen/NativeMethods.cs +++ b/examples/pycram_bullet/unity3d/autogen/NativeMethods.cs @@ -1418,7 +1418,7 @@ public struct b3SharedMemoryStatusHandle__ { public partial class NativeMethods { - const string dllName = "pybullet_vs2010_x64_release.dll"; + const string dllName = "pycram_bullet_vs2010_x64_release.dll"; /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__* ///key: int [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ConnectSharedMemory")] diff --git a/examples/pybullet/unity3d/examples/NewBehaviourScript.cs b/examples/pycram_bullet/unity3d/examples/NewBehaviourScript.cs similarity index 83% rename from examples/pybullet/unity3d/examples/NewBehaviourScript.cs rename to examples/pycram_bullet/unity3d/examples/NewBehaviourScript.cs index 44d64348c0..c4c5f5e969 100644 --- a/examples/pybullet/unity3d/examples/NewBehaviourScript.cs +++ b/examples/pycram_bullet/unity3d/examples/NewBehaviourScript.cs @@ -13,7 +13,7 @@ public class NewBehaviourScript : MonoBehaviour { Text text; IntPtr sharedAPI; - IntPtr pybullet; + IntPtr pycram_bullet; int m_cubeUid; // Use this for initialization @@ -21,52 +21,52 @@ void Start () { text = GetComponent(); - pybullet = NativeMethods.b3ConnectSharedMemory(NativeConstants.SHARED_MEMORY_KEY); - if (NativeMethods.b3CanSubmitCommand(pybullet)==0) + pycram_bullet = NativeMethods.b3ConnectSharedMemory(NativeConstants.SHARED_MEMORY_KEY); + if (NativeMethods.b3CanSubmitCommand(pycram_bullet)==0) { - pybullet = NativeMethods.b3ConnectPhysicsDirect(); + pycram_bullet = NativeMethods.b3ConnectPhysicsDirect(); } - IntPtr cmd = NativeMethods.b3InitResetSimulationCommand(pybullet); - IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd); + IntPtr cmd = NativeMethods.b3InitResetSimulationCommand(pycram_bullet); + IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pycram_bullet, cmd); { - IntPtr command = NativeMethods.b3InitPhysicsParamCommand(pybullet); + IntPtr command = NativeMethods.b3InitPhysicsParamCommand(pycram_bullet); NativeMethods.b3PhysicsParamSetGravity(command, 0, -10, 0); - IntPtr statusHandle = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, command); + IntPtr statusHandle = NativeMethods.b3SubmitClientCommandAndWaitStatus(pycram_bullet, command); } - int numBodies = NativeMethods.b3GetNumBodies(pybullet); + int numBodies = NativeMethods.b3GetNumBodies(pycram_bullet); { - cmd = NativeMethods.b3LoadUrdfCommandInit(pybullet, "plane.urdf"); + cmd = NativeMethods.b3LoadUrdfCommandInit(pycram_bullet, "plane.urdf"); Quaternion qq = Quaternion.Euler(-90, 0, 0); NativeMethods.b3LoadUrdfCommandSetStartOrientation(cmd, qq.x, qq.y, qq.z, qq.w); - status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd); + status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pycram_bullet, cmd); } - cmd = NativeMethods.b3LoadUrdfCommandInit(pybullet, "cube.urdf"); + cmd = NativeMethods.b3LoadUrdfCommandInit(pycram_bullet, "cube.urdf"); NativeMethods.b3LoadUrdfCommandSetStartPosition(cmd, 0, 20, 0); Quaternion q = Quaternion.Euler(35, 0, 0); NativeMethods.b3LoadUrdfCommandSetStartOrientation(cmd, q.x, q.y, q.z, q.w); - status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd); + status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pycram_bullet, cmd); m_cubeUid = NativeMethods.b3GetStatusBodyIndex(status); EnumSharedMemoryServerStatus statusType = (EnumSharedMemoryServerStatus)NativeMethods.b3GetStatusType(status); if (statusType == (EnumSharedMemoryServerStatus)EnumSharedMemoryServerStatus.CMD_URDF_LOADING_COMPLETED) { - numBodies = NativeMethods.b3GetNumBodies(pybullet); + numBodies = NativeMethods.b3GetNumBodies(pycram_bullet); text.text = numBodies.ToString(); - cmd = NativeMethods.b3InitRequestVisualShapeInformation(pybullet, m_cubeUid); - status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd); + cmd = NativeMethods.b3InitRequestVisualShapeInformation(pycram_bullet, m_cubeUid); + status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pycram_bullet, cmd); statusType = (EnumSharedMemoryServerStatus) NativeMethods.b3GetStatusType(status); if (statusType == (EnumSharedMemoryServerStatus)EnumSharedMemoryServerStatus.CMD_VISUAL_SHAPE_INFO_COMPLETED) { b3VisualShapeInformation visuals = new b3VisualShapeInformation(); - NativeMethods.b3GetVisualShapeInformation(pybullet, ref visuals); + NativeMethods.b3GetVisualShapeInformation(pycram_bullet, ref visuals); System.Console.WriteLine("visuals.m_numVisualShapes=" + visuals.m_numVisualShapes); System.IntPtr visualPtr = visuals.m_visualShapeData; @@ -90,7 +90,7 @@ void Start () { { b3BodyInfo info=new b3BodyInfo(); - NativeMethods.b3GetBodyInfo(pybullet, 0, ref info ); + NativeMethods.b3GetBodyInfo(pycram_bullet, 0, ref info ); text.text = info.m_baseName; } @@ -106,16 +106,16 @@ public struct MyPos } // Update is called once per frame void Update () { - if (pybullet != IntPtr.Zero) + if (pycram_bullet != IntPtr.Zero) { - IntPtr cmd = NativeMethods.b3InitStepSimulationCommand(pybullet); - IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd); + IntPtr cmd = NativeMethods.b3InitStepSimulationCommand(pycram_bullet); + IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pycram_bullet, cmd); } if (m_cubeUid>=0) { IntPtr cmd_handle = - NativeMethods.b3RequestActualStateCommandInit(pybullet, m_cubeUid); - IntPtr status_handle = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd_handle); + NativeMethods.b3RequestActualStateCommandInit(pycram_bullet, m_cubeUid); + IntPtr status_handle = NativeMethods.b3SubmitClientCommandAndWaitStatus(pycram_bullet, cmd_handle); EnumSharedMemoryServerStatus status_type = (EnumSharedMemoryServerStatus)NativeMethods.b3GetStatusType(status_handle); @@ -160,9 +160,9 @@ void Update () { void OnDestroy() { - if (pybullet != IntPtr.Zero) + if (pycram_bullet != IntPtr.Zero) { - NativeMethods.b3DisconnectSharedMemory(pybullet); + NativeMethods.b3DisconnectSharedMemory(pycram_bullet); } } diff --git a/examples/pycram_bullet/unity3d/readme.txt b/examples/pycram_bullet/unity3d/readme.txt new file mode 100644 index 0000000000..6d99e86933 --- /dev/null +++ b/examples/pycram_bullet/unity3d/readme.txt @@ -0,0 +1,33 @@ +Quick prototype to connect Unity 3D to pycram_bullet + +Generate C# Native Methods using the Microsoft PInvoke Signature Toolkit: + +sigimp.exe /lang:cs e:\develop\bullet3\examples\SharedMemory\PhysicsClientC_API.h + +Add some #define B3_SHARED_API __declspec(dllexport) to the exported methods, +replace [3], [4], [16] by [] to get sigimp.exe working. + +This generates autogen/NativeMethods.cs + +Then put pycram_bullet.dll in the right location, so Unity finds it. + +NewBehaviourScript.cs is a 1 evening prototype that works within Unity 3D: +Create a connection to pycram_bullet, reset the world, load a urdf at startup. +Step the simulation each Update. + +Now the real work can start, converting Unity objects to pycram_bullet, +pycram_bullet robots to Unity, synchronizing the transforms each Update. + +void Start () { + IntPtr pycram_bullet = b3ConnectSharedMemory(12347); + IntPtr cmd = b3InitResetSimulationCommand(pycram_bullet); + IntPtr status = b3SubmitClientCommandAndWaitStatus(pycram_bullet, cmd); + cmd = b3LoadUrdfCommandInit(pycram_bullet, "plane.urdf"); + status = b3SubmitClientCommandAndWaitStatus(pycram_bullet, cmd); +} + +void Update () +{ + IntPtr cmd = b3InitStepSimulationCommand(pycram_bullet); + IntPtr status = b3SubmitClientCommandAndWaitStatus(pycram_bullet, cmd); +} diff --git a/setup.py b/setup.py index 2ef922a01a..5a21e86a28 100644 --- a/setup.py +++ b/setup.py @@ -100,7 +100,7 @@ def _single_compile(obj): print("numpy_include_dirs = %s" % d) include_dirs += NP_DIRS -sources = ["examples/pybullet/pybullet.c"]\ +sources = ["examples/pycram_bullet/pycram_bullet.c"]\ +["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\ +["examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp"]\ +["examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp"]\ @@ -456,7 +456,7 @@ def _single_compile(obj): setup_py_dir = os.path.dirname(os.path.realpath(__file__)) need_files = [] -datadir = "examples/pybullet/gym/pybullet_data" +datadir = "examples/pycram_bullet/gym/pycram_bullet_data" hh = setup_py_dir + "/" + datadir @@ -472,13 +472,13 @@ def _single_compile(obj): for n in need_files: print("-- %s" % n) print("packages") -print(find_packages('examples/pybullet/gym')) +print(find_packages('examples/pycram_bullet/gym')) print("-----") extensions = [] -pybullet_ext = Extension( - "pybullet", +pycram_bullet_ext = Extension( + "pycram_bullet", sources=sources, libraries=libraries, extra_compile_args=CXX_FLAGS.split(), @@ -487,7 +487,7 @@ def _single_compile(obj): "examples/ThirdPartyLibs/enet/include", "examples/ThirdPartyLibs/clsocket/src", "Extras/VHACD/inc", "Extras/VHACD/public", ]) -extensions.append(pybullet_ext) +extensions.append(pycram_bullet_ext) if 'BT_USE_EGL' in EGL_CXX_FLAGS: @@ -504,12 +504,12 @@ def _single_compile(obj): extensions.append(eglRender) setup( - name='pybullet', + name='pycram_bullet', version='3.2.5', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= - 'pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.', + 'pycram_bullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pycram_bullet you can load articulated bodies from URDF, SDF and other file formats. pycram_bullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pycram_bullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.', url='https://github.com/bulletphysics/bullet3', author='Erwin Coumans, Yunfei Bai, Jasmine Hsu', author_email='erwincoumans@google.com', @@ -532,6 +532,6 @@ def _single_compile(obj): 'Topic :: Scientific/Engineering :: Artificial Intelligence', 'Framework :: Robot Framework' ], - package_dir={'': 'examples/pybullet/gym'}, - packages=[x for x in find_packages('examples/pybullet/gym')], - package_data={'pybullet_data': need_files}) + package_dir={'': 'examples/pycram_bullet/gym'}, + packages=[x for x in find_packages('examples/pycram_bullet/gym')], + package_data={'pycram_bullet_data': need_files})