pycram-bullet

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. This is a fork of the official PyBullet project (https://github.com/bulletphysics/bullet3), with the purpose of allowing to spawn a URDF with more than 128 Links.