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The Bullet Physics Engine (http://bulletphysics.org) is a robust and widely used platform for rigid-body and soft-body physics simulation. Using Python wrapping technology, we developed the first-ever Python access to Bullet. Moreover, we integrated it within PyVrui so that one can build rigid and soft-body simulations that run in an immersive environment.
PyBullet needs extensive further testing and development, along with a suite of tutorial applications and documentation.