Break up bitbots wolfgang folder (#607)

bit-bots · Oct 23, 2024 · b226971 · b226971
2 parents 90bde1d + bf526c4
commit b226971
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Showing 483 changed files with 171 additions and 142 deletions.
diff --git a/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch b/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch
@@ -12,7 +12,7 @@
     <arg name="world_model" default="true" description="Whether the world model should be started"/>
 
     <!-- load the general simulator -->
-    <include file="$(find-pkg-share wolfgang_webots_sim)/launch/simulation.launch" />
+    <include file="$(find-pkg-share bitbots_webots_sim)/launch/simulation.launch" />
 
     <!-- load teamplayer software stack -->
     <include file="$(find-pkg-share bitbots_bringup)/launch/teamplayer.launch">

diff --git a/bitbots_misc/bitbots_bringup/package.xml b/bitbots_misc/bitbots_bringup/package.xml
@@ -16,7 +16,7 @@
 
     <depend>bitbots_docs</depend>
 
-    <exec_depend condition="$IS_ROBOT != True">wolfgang_webots_sim</exec_depend>
+    <exec_depend condition="$IS_ROBOT != True">bitbots_webots_sim</exec_depend>
     <exec_depend>audio_common</exec_depend>
     <exec_depend>bitbots_basler_camera</exec_depend>
     <exec_depend>bitbots_body_behavior</exec_depend>

diff --git a/bitbots_misc/bitbots_containers/hlvs/Dockerfile b/bitbots_misc/bitbots_containers/hlvs/Dockerfile
@@ -62,10 +62,10 @@ RUN cd src/bitbots_main && \
     make pull-all && \
     rm -rf lib/udp_bridge bitbots_misc/bitbots_containers \
     lib/dynamic_stack_decider/dynamic_stack_decider_visualization bitbots_lowlevel \
-    bitbots_wolfgang/wolfgang_pybullet_sim lib/DynamixelSDK lib/dynamixel-workbench \
+    bitbots_robot/bitbots_pybullet_sim lib/DynamixelSDK lib/dynamixel-workbench \
     bitbots_misc/bitbots_basler_camera && \
     sed -i '/plotjuggler/d' bitbots_motion/bitbots_quintic_walk/package.xml && \
-    sed -i '/run_depend/d' bitbots_wolfgang/wolfgang_moveit_config/package.xml
+    sed -i '/run_depend/d' bitbots_robot/wolfgang_moveit_config/package.xml
 
 # Install ros dependencies with rosdep
 RUN sudo apt update && rosdep update
@@ -75,7 +75,7 @@ RUN . /opt/ros/iron/setup.sh && colcon build --cmake-args -DBUILD_TESTING=OFF
 
 # TODO execute tests
 
-RUN cp src/bitbots_main/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh .local/bin/start
+RUN cp src/bitbots_main/bitbots_robot/bitbots_robocup_api/scripts/start.sh .local/bin/start
 
 # Volume for logs
 VOLUME /robocup-logs

diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst b/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst
@@ -6,7 +6,7 @@ Test Motion
 
 .. code-block:: bash
 
-    ros2 launch wolfgang_webots_sim simulation.launch
+    ros2 launch bitbots_webots_sim simulation.launch
     ros2 launch bitbots_bringup motion_standalone.launch sim:=true
 
 To control walking of the robot, teleop needs to be startet as well:

diff --git a/bitbots_wolfgang/README.md → bitbots_robot/README.md b/bitbots_wolfgang/README.md → bitbots_robot/README.md
diff --git a/...lfgang/wolfgang_animations/CMakeLists.txt → ..._robot/wolfgang_animations/CMakeLists.txt b/...lfgang/wolfgang_animations/CMakeLists.txt → ..._robot/wolfgang_animations/CMakeLists.txt
diff --git a/...ions/animations/falling/falling_back.json → ...ions/animations/falling/falling_back.json b/...ions/animations/falling/falling_back.json → ...ions/animations/falling/falling_back.json
diff --git a/...ons/animations/falling/falling_front.json → ...ons/animations/falling/falling_front.json b/...ons/animations/falling/falling_front.json → ...ons/animations/falling/falling_front.json
diff --git a/...ions/animations/falling/falling_left.json → ...ions/animations/falling/falling_left.json b/...ions/animations/falling/falling_left.json → ...ions/animations/falling/falling_left.json
diff --git a/...ons/animations/falling/falling_right.json → ...ons/animations/falling/falling_right.json b/...ons/animations/falling/falling_right.json → ...ons/animations/falling/falling_right.json
diff --git a/...mations/goalie/goalie_falling_center.json → ...mations/goalie/goalie_falling_center.json b/...mations/goalie/goalie_falling_center.json → ...mations/goalie/goalie_falling_center.json
diff --git a/...nimations/goalie/goalie_falling_left.json → ...nimations/goalie/goalie_falling_left.json b/...nimations/goalie/goalie_falling_left.json → ...nimations/goalie/goalie_falling_left.json
diff --git a/...imations/goalie/goalie_falling_right.json → ...imations/goalie/goalie_falling_right.json b/...imations/goalie/goalie_falling_right.json → ...imations/goalie/goalie_falling_right.json
diff --git a/...nimations/goalie/goalie_prepare_arms.json → ...nimations/goalie/goalie_prepare_arms.json b/...nimations/goalie/goalie_prepare_arms.json → ...nimations/goalie/goalie_prepare_arms.json
diff --git a/...animations/animations/kick/kick_left.json → ...animations/animations/kick/kick_left.json b/...animations/animations/kick/kick_left.json → ...animations/animations/kick/kick_left.json
diff --git a/...nimations/animations/kick/kick_right.json → ...nimations/animations/kick/kick_right.json b/...nimations/animations/kick/kick_right.json → ...nimations/animations/kick/kick_right.json
diff --git a/..._animations/animations/misc/cheering.json → ..._animations/animations/misc/cheering.json b/..._animations/animations/misc/cheering.json → ..._animations/animations/misc/cheering.json
diff --git a/...gang_animations/animations/misc/init.json → ...gang_animations/animations/misc/init.json b/...gang_animations/animations/misc/init.json → ...gang_animations/animations/misc/init.json
diff --git a/..._animations/animations/misc/init_sim.json → ..._animations/animations/misc/init_sim.json b/..._animations/animations/misc/init_sim.json → ..._animations/animations/misc/init_sim.json
diff --git a/...g_animations/animations/misc/startup.json → ...g_animations/animations/misc/startup.json b/...g_animations/animations/misc/startup.json → ...g_animations/animations/misc/startup.json
diff --git a/...animations/animations/misc/verbeugen.json → ...animations/animations/misc/verbeugen.json b/...animations/animations/misc/verbeugen.json → ...animations/animations/misc/verbeugen.json
diff --git a/...ons/animations/standup/stand_up_back.json → ...ons/animations/standup/stand_up_back.json b/...ons/animations/standup/stand_up_back.json → ...ons/animations/standup/stand_up_back.json
diff --git a/...ns/animations/standup/stand_up_front.json → ...ns/animations/standup/stand_up_front.json b/...ns/animations/standup/stand_up_front.json → ...ns/animations/standup/stand_up_front.json
diff --git a/...nimations/standup/turning_front_left.json → ...nimations/standup/turning_front_left.json b/...nimations/standup/turning_front_left.json → ...nimations/standup/turning_front_left.json
diff --git a/...imations/standup/turning_front_right.json → ...imations/standup/turning_front_right.json b/...imations/standup/turning_front_right.json → ...imations/standup/turning_front_right.json
diff --git a/...wolfgang_animations/docs/_static/logo.png → ...wolfgang_animations/docs/_static/logo.png b/...wolfgang_animations/docs/_static/logo.png → ...wolfgang_animations/docs/_static/logo.png
diff --git a/...wolfgang/wolfgang_animations/docs/conf.py → ...ts_robot/wolfgang_animations/docs/conf.py b/...wolfgang/wolfgang_animations/docs/conf.py → ...ts_robot/wolfgang_animations/docs/conf.py
diff --git a/...lfgang/wolfgang_animations/docs/index.rst → ..._robot/wolfgang_animations/docs/index.rst b/...lfgang/wolfgang_animations/docs/index.rst → ..._robot/wolfgang_animations/docs/index.rst
diff --git a/..._wolfgang/wolfgang_animations/package.xml → ...ots_robot/wolfgang_animations/package.xml b/..._wolfgang/wolfgang_animations/package.xml → ...ots_robot/wolfgang_animations/package.xml
diff --git a/..._wolfgang/wolfgang_animations/rosdoc.yaml → ...ots_robot/wolfgang_animations/rosdoc.yaml b/..._wolfgang/wolfgang_animations/rosdoc.yaml → ...ots_robot/wolfgang_animations/rosdoc.yaml
diff --git a/...fgang/wolfgang_description/CMakeLists.txt → ...robot/wolfgang_description/CMakeLists.txt b/...fgang/wolfgang_description/CMakeLists.txt → ...robot/wolfgang_description/CMakeLists.txt
diff --git a/...s_wolfgang/wolfgang_description/README.md → bitbots_robot/wolfgang_description/README.md b/...s_wolfgang/wolfgang_description/README.md → bitbots_robot/wolfgang_description/README.md
diff --git a/..._description/config/fake_controllers.yaml → ..._description/config/fake_controllers.yaml b/..._description/config/fake_controllers.yaml → ..._description/config/fake_controllers.yaml
diff --git a/...wolfgang_description/config/wolfgang.rviz → ...wolfgang_description/config/wolfgang.rviz b/...wolfgang_description/config/wolfgang.rviz → ...wolfgang_description/config/wolfgang.rviz
diff --git a/..._description/config/wolfgang_control.yaml → ..._description/config/wolfgang_control.yaml b/..._description/config/wolfgang_control.yaml → ..._description/config/wolfgang_control.yaml
diff --git a/...nfig/wolfgang_control_simple_physics.yaml → ...nfig/wolfgang_control_simple_physics.yaml b/...nfig/wolfgang_control_simple_physics.yaml → ...nfig/wolfgang_control_simple_physics.yaml
diff --git a/...olfgang_description/docs/_static/logo.png → ...olfgang_description/docs/_static/logo.png b/...olfgang_description/docs/_static/logo.png → ...olfgang_description/docs/_static/logo.png
diff --git a/...olfgang/wolfgang_description/docs/conf.py → ...s_robot/wolfgang_description/docs/conf.py b/...olfgang/wolfgang_description/docs/conf.py → ...s_robot/wolfgang_description/docs/conf.py
diff --git a/...fgang/wolfgang_description/docs/index.rst → ...robot/wolfgang_description/docs/index.rst b/...fgang/wolfgang_description/docs/index.rst → ...robot/wolfgang_description/docs/index.rst
diff --git a/...g/wolfgang_description/launch/rviz.launch → ...t/wolfgang_description/launch/rviz.launch b/...g/wolfgang_description/launch/rviz.launch → ...t/wolfgang_description/launch/rviz.launch
diff --git a/...gang_description/launch/standalone.launch → ...gang_description/launch/standalone.launch b/...gang_description/launch/standalone.launch → ...gang_description/launch/standalone.launch
diff --git a/...wolfgang/wolfgang_description/package.xml → ...ts_robot/wolfgang_description/package.xml b/...wolfgang/wolfgang_description/package.xml → ...ts_robot/wolfgang_description/package.xml
diff --git a/...wolfgang/wolfgang_description/rosdoc.yaml → ...ts_robot/wolfgang_description/rosdoc.yaml b/...wolfgang/wolfgang_description/rosdoc.yaml → ...ts_robot/wolfgang_description/rosdoc.yaml
diff --git a/...fgang_description/urdf/additionalURDF.txt → ...fgang_description/urdf/additionalURDF.txt b/...fgang_description/urdf/additionalURDF.txt → ...fgang_description/urdf/additionalURDF.txt
diff --git a/...gang/wolfgang_description/urdf/ankle.scad → ...obot/wolfgang_description/urdf/ankle.scad b/...gang/wolfgang_description/urdf/ankle.scad → ...obot/wolfgang_description/urdf/ankle.scad
diff --git a/...fgang/wolfgang_description/urdf/ankle.stl → ...robot/wolfgang_description/urdf/ankle.stl b/...fgang/wolfgang_description/urdf/ankle.stl → ...robot/wolfgang_description/urdf/ankle.stl
diff --git a/...ption/urdf/baseplate_odroid_xu4_core.scad → ...ption/urdf/baseplate_odroid_xu4_core.scad b/...ption/urdf/baseplate_odroid_xu4_core.scad → ...ption/urdf/baseplate_odroid_xu4_core.scad
diff --git a/...iption/urdf/baseplate_odroid_xu4_core.stl → ...iption/urdf/baseplate_odroid_xu4_core.stl b/...iption/urdf/baseplate_odroid_xu4_core.stl → ...iption/urdf/baseplate_odroid_xu4_core.stl
diff --git a/...ion/urdf/basler_ace_gige_c-mount_v01.scad → ...ion/urdf/basler_ace_gige_c-mount_v01.scad b/...ion/urdf/basler_ace_gige_c-mount_v01.scad → ...ion/urdf/basler_ace_gige_c-mount_v01.scad
diff --git a/...tion/urdf/basler_ace_gige_c-mount_v01.stl → ...tion/urdf/basler_ace_gige_c-mount_v01.stl b/...tion/urdf/basler_ace_gige_c-mount_v01.stl → ...tion/urdf/basler_ace_gige_c-mount_v01.stl
diff --git a/...ng/wolfgang_description/urdf/battery.scad → ...ot/wolfgang_description/urdf/battery.scad b/...ng/wolfgang_description/urdf/battery.scad → ...ot/wolfgang_description/urdf/battery.scad
diff --git a/...ang/wolfgang_description/urdf/battery.stl → ...bot/wolfgang_description/urdf/battery.stl b/...ang/wolfgang_description/urdf/battery.stl → ...bot/wolfgang_description/urdf/battery.stl
diff --git a/...lfgang_description/urdf/battery_cage.scad → ...lfgang_description/urdf/battery_cage.scad b/...lfgang_description/urdf/battery_cage.scad → ...lfgang_description/urdf/battery_cage.scad
diff --git a/...olfgang_description/urdf/battery_cage.stl → ...olfgang_description/urdf/battery_cage.stl b/...olfgang_description/urdf/battery_cage.stl → ...olfgang_description/urdf/battery_cage.stl
diff --git a/...lfgang_description/urdf/battery_clip.scad → ...lfgang_description/urdf/battery_clip.scad b/...lfgang_description/urdf/battery_clip.scad → ...lfgang_description/urdf/battery_clip.scad
diff --git a/...olfgang_description/urdf/battery_clip.stl → ...olfgang_description/urdf/battery_clip.stl b/...olfgang_description/urdf/battery_clip.stl → ...olfgang_description/urdf/battery_clip.stl
diff --git a/...amera_lower_basler_wolfgang_imu_v2.2.scad → ...amera_lower_basler_wolfgang_imu_v2.2.scad b/...amera_lower_basler_wolfgang_imu_v2.2.scad → ...amera_lower_basler_wolfgang_imu_v2.2.scad
diff --git a/...camera_lower_basler_wolfgang_imu_v2.2.stl → ...camera_lower_basler_wolfgang_imu_v2.2.stl b/...camera_lower_basler_wolfgang_imu_v2.2.stl → ...camera_lower_basler_wolfgang_imu_v2.2.stl
diff --git a/...amera_side_basler_wolfgang_v2.2_left.scad → ...amera_side_basler_wolfgang_v2.2_left.scad b/...amera_side_basler_wolfgang_v2.2_left.scad → ...amera_side_basler_wolfgang_v2.2_left.scad
diff --git a/...camera_side_basler_wolfgang_v2.2_left.stl → ...camera_side_basler_wolfgang_v2.2_left.stl b/...camera_side_basler_wolfgang_v2.2_left.stl → ...camera_side_basler_wolfgang_v2.2_left.stl
diff --git a/...mera_side_basler_wolfgang_v2.2_right.scad → ...mera_side_basler_wolfgang_v2.2_right.scad b/...mera_side_basler_wolfgang_v2.2_right.scad → ...mera_side_basler_wolfgang_v2.2_right.scad
diff --git a/...amera_side_basler_wolfgang_v2.2_right.stl → ...amera_side_basler_wolfgang_v2.2_right.stl b/...amera_side_basler_wolfgang_v2.2_right.stl → ...amera_side_basler_wolfgang_v2.2_right.stl
diff --git a/...ang/wolfgang_description/urdf/config.json → ...bot/wolfgang_description/urdf/config.json b/...ang/wolfgang_description/urdf/config.json → ...bot/wolfgang_description/urdf/config.json
diff --git a/..._description/urdf/connector_shoulder.scad → ..._description/urdf/connector_shoulder.scad b/..._description/urdf/connector_shoulder.scad → ..._description/urdf/connector_shoulder.scad
diff --git a/...g_description/urdf/connector_shoulder.stl → ...g_description/urdf/connector_shoulder.stl b/...g_description/urdf/connector_shoulder.stl → ...g_description/urdf/connector_shoulder.stl
diff --git a/...fgang/wolfgang_description/urdf/core.scad → ...robot/wolfgang_description/urdf/core.scad b/...fgang/wolfgang_description/urdf/core.scad → ...robot/wolfgang_description/urdf/core.scad
diff --git a/...lfgang/wolfgang_description/urdf/core.stl → ..._robot/wolfgang_description/urdf/core.stl b/...lfgang/wolfgang_description/urdf/core.stl → ..._robot/wolfgang_description/urdf/core.stl
diff --git a/...fgang_description/urdf/dummy_speaker.scad → ...fgang_description/urdf/dummy_speaker.scad b/...fgang_description/urdf/dummy_speaker.scad → ...fgang_description/urdf/dummy_speaker.scad
diff --git a/...lfgang_description/urdf/dummy_speaker.stl → ...lfgang_description/urdf/dummy_speaker.stl b/...lfgang_description/urdf/dummy_speaker.stl → ...lfgang_description/urdf/dummy_speaker.stl
diff --git a/...lfgang_description/urdf/flex_stollen.scad → ...lfgang_description/urdf/flex_stollen.scad b/...lfgang_description/urdf/flex_stollen.scad → ...lfgang_description/urdf/flex_stollen.scad
diff --git a/...olfgang_description/urdf/flex_stollen.stl → ...olfgang_description/urdf/flex_stollen.stl b/...olfgang_description/urdf/flex_stollen.stl → ...olfgang_description/urdf/flex_stollen.stl
diff --git a/...wolfgang_description/urdf/foot_cover.scad → ...wolfgang_description/urdf/foot_cover.scad b/...wolfgang_description/urdf/foot_cover.scad → ...wolfgang_description/urdf/foot_cover.scad
diff --git a/.../wolfgang_description/urdf/foot_cover.stl → .../wolfgang_description/urdf/foot_cover.stl b/.../wolfgang_description/urdf/foot_cover.stl → .../wolfgang_description/urdf/foot_cover.stl
diff --git a/...g_description/urdf/foot_printed_left.scad → ...g_description/urdf/foot_printed_left.scad b/...g_description/urdf/foot_printed_left.scad → ...g_description/urdf/foot_printed_left.scad
diff --git a/...ng_description/urdf/foot_printed_left.stl → ...ng_description/urdf/foot_printed_left.stl b/...ng_description/urdf/foot_printed_left.stl → ...ng_description/urdf/foot_printed_left.stl
diff --git a/..._description/urdf/foot_printed_right.scad → ..._description/urdf/foot_printed_right.scad b/..._description/urdf/foot_printed_right.scad → ..._description/urdf/foot_printed_right.scad
diff --git a/...g_description/urdf/foot_printed_right.stl → ...g_description/urdf/foot_printed_right.stl b/...g_description/urdf/foot_printed_right.stl → ...g_description/urdf/foot_printed_right.stl
diff --git a/...fgang/wolfgang_description/urdf/hand.scad → ...robot/wolfgang_description/urdf/hand.scad b/...fgang/wolfgang_description/urdf/hand.scad → ...robot/wolfgang_description/urdf/hand.scad
diff --git a/...lfgang/wolfgang_description/urdf/hand.stl → ..._robot/wolfgang_description/urdf/hand.stl b/...lfgang/wolfgang_description/urdf/hand.stl → ..._robot/wolfgang_description/urdf/hand.stl
diff --git a/...ang_description/urdf/hip_u_connector.scad → ...ang_description/urdf/hip_u_connector.scad b/...ang_description/urdf/hip_u_connector.scad → ...ang_description/urdf/hip_u_connector.scad
diff --git a/...gang_description/urdf/hip_u_connector.stl → ...gang_description/urdf/hip_u_connector.stl b/...gang_description/urdf/hip_u_connector.stl → ...gang_description/urdf/hip_u_connector.stl
diff --git a/...wolfgang_description/urdf/imu_holder.scad → ...wolfgang_description/urdf/imu_holder.scad b/...wolfgang_description/urdf/imu_holder.scad → ...wolfgang_description/urdf/imu_holder.scad
diff --git a/.../wolfgang_description/urdf/imu_holder.stl → .../wolfgang_description/urdf/imu_holder.stl b/.../wolfgang_description/urdf/imu_holder.stl → .../wolfgang_description/urdf/imu_holder.stl
diff --git a/...gang_description/urdf/knee_connector.scad → ...gang_description/urdf/knee_connector.scad b/...gang_description/urdf/knee_connector.scad → ...gang_description/urdf/knee_connector.scad
diff --git a/...fgang_description/urdf/knee_connector.stl → ...fgang_description/urdf/knee_connector.stl b/...fgang_description/urdf/knee_connector.stl → ...fgang_description/urdf/knee_connector.stl
diff --git a/...olfgang_description/urdf/knee_spacer.scad → ...olfgang_description/urdf/knee_spacer.scad b/...olfgang_description/urdf/knee_spacer.scad → ...olfgang_description/urdf/knee_spacer.scad
diff --git a/...wolfgang_description/urdf/knee_spacer.stl → ...wolfgang_description/urdf/knee_spacer.stl b/...wolfgang_description/urdf/knee_spacer.stl → ...wolfgang_description/urdf/knee_spacer.stl
diff --git a/...gang/wolfgang_description/urdf/lense.scad → ...obot/wolfgang_description/urdf/lense.scad b/...gang/wolfgang_description/urdf/lense.scad → ...obot/wolfgang_description/urdf/lense.scad
diff --git a/...fgang/wolfgang_description/urdf/lense.stl → ...robot/wolfgang_description/urdf/lense.stl b/...fgang/wolfgang_description/urdf/lense.stl → ...robot/wolfgang_description/urdf/lense.stl
diff --git a/.../wolfgang_description/urdf/load_cell.scad → .../wolfgang_description/urdf/load_cell.scad b/.../wolfgang_description/urdf/load_cell.scad → .../wolfgang_description/urdf/load_cell.scad
diff --git a/...g/wolfgang_description/urdf/load_cell.stl → ...t/wolfgang_description/urdf/load_cell.stl b/...g/wolfgang_description/urdf/load_cell.stl → ...t/wolfgang_description/urdf/load_cell.stl
diff --git a/.../wolfgang_description/urdf/lower_arm.scad → .../wolfgang_description/urdf/lower_arm.scad b/.../wolfgang_description/urdf/lower_arm.scad → .../wolfgang_description/urdf/lower_arm.scad
diff --git a/...g/wolfgang_description/urdf/lower_arm.stl → ...t/wolfgang_description/urdf/lower_arm.stl b/...g/wolfgang_description/urdf/lower_arm.stl → ...t/wolfgang_description/urdf/lower_arm.stl
diff --git a/.../wolfgang_description/urdf/lower_leg.scad → .../wolfgang_description/urdf/lower_leg.scad b/.../wolfgang_description/urdf/lower_leg.scad → .../wolfgang_description/urdf/lower_leg.scad
diff --git a/...g/wolfgang_description/urdf/lower_leg.stl → ...t/wolfgang_description/urdf/lower_leg.stl b/...g/wolfgang_description/urdf/lower_leg.stl → ...t/wolfgang_description/urdf/lower_leg.stl
diff --git a/...ng_description/urdf/lower_leg_spacer.scad → ...ng_description/urdf/lower_leg_spacer.scad b/...ng_description/urdf/lower_leg_spacer.scad → ...ng_description/urdf/lower_leg_spacer.scad
diff --git a/...ang_description/urdf/lower_leg_spacer.stl → ...ang_description/urdf/lower_leg_spacer.stl b/...ang_description/urdf/lower_leg_spacer.stl → ...ang_description/urdf/lower_leg_spacer.stl
diff --git a/...ang_description/urdf/motor_connector.scad → ...ang_description/urdf/motor_connector.scad b/...ang_description/urdf/motor_connector.scad → ...ang_description/urdf/motor_connector.scad
diff --git a/...gang_description/urdf/motor_connector.stl → ...gang_description/urdf/motor_connector.stl b/...gang_description/urdf/motor_connector.stl → ...gang_description/urdf/motor_connector.stl
diff --git a/...olfgang_description/urdf/mx-106_body.scad → ...olfgang_description/urdf/mx-106_body.scad b/...olfgang_description/urdf/mx-106_body.scad → ...olfgang_description/urdf/mx-106_body.scad
diff --git a/...wolfgang_description/urdf/mx-106_body.stl → ...wolfgang_description/urdf/mx-106_body.stl b/...wolfgang_description/urdf/mx-106_body.stl → ...wolfgang_description/urdf/mx-106_body.stl
diff --git a/...wolfgang_description/urdf/mx-64-body.scad → ...wolfgang_description/urdf/mx-64-body.scad b/...wolfgang_description/urdf/mx-64-body.scad → ...wolfgang_description/urdf/mx-64-body.scad
diff --git a/.../wolfgang_description/urdf/mx-64-body.stl → .../wolfgang_description/urdf/mx-64-body.stl b/.../wolfgang_description/urdf/mx-64-body.stl → .../wolfgang_description/urdf/mx-64-body.stl
diff --git a/...escription/urdf/nuc_holder_left_back.scad → ...escription/urdf/nuc_holder_left_back.scad b/...escription/urdf/nuc_holder_left_back.scad → ...escription/urdf/nuc_holder_left_back.scad
diff --git a/...description/urdf/nuc_holder_left_back.stl → ...description/urdf/nuc_holder_left_back.stl b/...description/urdf/nuc_holder_left_back.stl → ...description/urdf/nuc_holder_left_back.stl
diff --git a/...scription/urdf/nuc_holder_left_front.scad → ...scription/urdf/nuc_holder_left_front.scad b/...scription/urdf/nuc_holder_left_front.scad → ...scription/urdf/nuc_holder_left_front.scad
diff --git a/...escription/urdf/nuc_holder_left_front.stl → ...escription/urdf/nuc_holder_left_front.stl b/...escription/urdf/nuc_holder_left_front.stl → ...escription/urdf/nuc_holder_left_front.stl
diff --git a/...scription/urdf/nuc_holder_right_back.scad → ...scription/urdf/nuc_holder_right_back.scad b/...scription/urdf/nuc_holder_right_back.scad → ...scription/urdf/nuc_holder_right_back.scad
diff --git a/...escription/urdf/nuc_holder_right_back.stl → ...escription/urdf/nuc_holder_right_back.stl b/...escription/urdf/nuc_holder_right_back.stl → ...escription/urdf/nuc_holder_right_back.stl
diff --git a/...cription/urdf/nuc_holder_right_front.scad → ...cription/urdf/nuc_holder_right_front.scad b/...cription/urdf/nuc_holder_right_front.scad → ...cription/urdf/nuc_holder_right_front.scad
diff --git a/...scription/urdf/nuc_holder_right_front.stl → ...scription/urdf/nuc_holder_right_front.stl b/...scription/urdf/nuc_holder_right_front.stl → ...scription/urdf/nuc_holder_right_front.stl
diff --git a/...g/wolfgang_description/urdf/nuc_main.scad → ...t/wolfgang_description/urdf/nuc_main.scad b/...g/wolfgang_description/urdf/nuc_main.scad → ...t/wolfgang_description/urdf/nuc_main.scad
diff --git a/...ng/wolfgang_description/urdf/nuc_main.stl → ...ot/wolfgang_description/urdf/nuc_main.stl b/...ng/wolfgang_description/urdf/nuc_main.stl → ...ot/wolfgang_description/urdf/nuc_main.stl
diff --git a/...gang/wolfgang_description/urdf/robot.urdf → ...obot/wolfgang_description/urdf/robot.urdf b/...gang/wolfgang_description/urdf/robot.urdf → ...obot/wolfgang_description/urdf/robot.urdf
diff --git a/...fgang_description/urdf/sea_connector.scad → ...fgang_description/urdf/sea_connector.scad b/...fgang_description/urdf/sea_connector.scad → ...fgang_description/urdf/sea_connector.scad
diff --git a/...lfgang_description/urdf/sea_connector.stl → ...lfgang_description/urdf/sea_connector.stl b/...lfgang_description/urdf/sea_connector.stl → ...lfgang_description/urdf/sea_connector.stl
diff --git a/...fgang_description/urdf/sea_ninjaflex.scad → ...fgang_description/urdf/sea_ninjaflex.scad b/...fgang_description/urdf/sea_ninjaflex.scad → ...fgang_description/urdf/sea_ninjaflex.scad
diff --git a/...lfgang_description/urdf/sea_ninjaflex.stl → ...lfgang_description/urdf/sea_ninjaflex.stl b/...lfgang_description/urdf/sea_ninjaflex.stl → ...lfgang_description/urdf/sea_ninjaflex.stl
diff --git a/..._description/urdf/shoulder_connector.scad → ..._description/urdf/shoulder_connector.scad b/..._description/urdf/shoulder_connector.scad → ..._description/urdf/shoulder_connector.scad
diff --git a/...g_description/urdf/shoulder_connector.stl → ...g_description/urdf/shoulder_connector.stl b/...g_description/urdf/shoulder_connector.stl → ...g_description/urdf/shoulder_connector.stl
diff --git a/...gang_description/urdf/speaker_holder.scad → ...gang_description/urdf/speaker_holder.scad b/...gang_description/urdf/speaker_holder.scad → ...gang_description/urdf/speaker_holder.scad
diff --git a/...fgang_description/urdf/speaker_holder.stl → ...fgang_description/urdf/speaker_holder.stl b/...fgang_description/urdf/speaker_holder.stl → ...fgang_description/urdf/speaker_holder.stl
diff --git a/...description/urdf/spring_holder_lower.scad → ...description/urdf/spring_holder_lower.scad b/...description/urdf/spring_holder_lower.scad → ...description/urdf/spring_holder_lower.scad
diff --git a/..._description/urdf/spring_holder_lower.stl → ..._description/urdf/spring_holder_lower.stl b/..._description/urdf/spring_holder_lower.stl → ..._description/urdf/spring_holder_lower.stl
diff --git a/...description/urdf/spring_holder_upper.scad → ...description/urdf/spring_holder_upper.scad b/...description/urdf/spring_holder_upper.scad → ...description/urdf/spring_holder_upper.scad
diff --git a/..._description/urdf/spring_holder_upper.stl → ..._description/urdf/spring_holder_upper.stl b/..._description/urdf/spring_holder_upper.stl → ..._description/urdf/spring_holder_upper.stl
diff --git a/...description/urdf/springholder_bottom.scad → ...description/urdf/springholder_bottom.scad b/...description/urdf/springholder_bottom.scad → ...description/urdf/springholder_bottom.scad
diff --git a/..._description/urdf/springholder_bottom.stl → ..._description/urdf/springholder_bottom.stl b/..._description/urdf/springholder_bottom.stl → ..._description/urdf/springholder_bottom.stl
diff --git a/...ng_description/urdf/springholder_new.scad → ...ng_description/urdf/springholder_new.scad b/...ng_description/urdf/springholder_new.scad → ...ng_description/urdf/springholder_new.scad
diff --git a/...ang_description/urdf/springholder_new.stl → ...ang_description/urdf/springholder_new.stl b/...ang_description/urdf/springholder_new.stl → ...ang_description/urdf/springholder_new.stl
diff --git a/...description/urdf/thrustbearingholder.scad → ...description/urdf/thrustbearingholder.scad b/...description/urdf/thrustbearingholder.scad → ...description/urdf/thrustbearingholder.scad
diff --git a/..._description/urdf/thrustbearingholder.stl → ..._description/urdf/thrustbearingholder.stl b/..._description/urdf/thrustbearingholder.stl → ..._description/urdf/thrustbearingholder.stl
diff --git a/...lfgang_description/urdf/torso_bottom.scad → ...lfgang_description/urdf/torso_bottom.scad b/...lfgang_description/urdf/torso_bottom.scad → ...lfgang_description/urdf/torso_bottom.scad
diff --git a/...olfgang_description/urdf/torso_bottom.stl → ...olfgang_description/urdf/torso_bottom.stl b/...olfgang_description/urdf/torso_bottom.stl → ...olfgang_description/urdf/torso_bottom.stl
diff --git a/...g_description/urdf/torso_bumper_left.scad → ...g_description/urdf/torso_bumper_left.scad b/...g_description/urdf/torso_bumper_left.scad → ...g_description/urdf/torso_bumper_left.scad
diff --git a/...ng_description/urdf/torso_bumper_left.stl → ...ng_description/urdf/torso_bumper_left.stl b/...ng_description/urdf/torso_bumper_left.stl → ...ng_description/urdf/torso_bumper_left.stl
diff --git a/..._description/urdf/torso_bumper_right.scad → ..._description/urdf/torso_bumper_right.scad b/..._description/urdf/torso_bumper_right.scad → ..._description/urdf/torso_bumper_right.scad
diff --git a/...g_description/urdf/torso_bumper_right.stl → ...g_description/urdf/torso_bumper_right.stl b/...g_description/urdf/torso_bumper_right.stl → ...g_description/urdf/torso_bumper_right.stl
diff --git a/.../wolfgang_description/urdf/torso_top.scad → .../wolfgang_description/urdf/torso_top.scad b/.../wolfgang_description/urdf/torso_top.scad → .../wolfgang_description/urdf/torso_top.scad
diff --git a/...g/wolfgang_description/urdf/torso_top.stl → ...t/wolfgang_description/urdf/torso_top.stl b/...g/wolfgang_description/urdf/torso_top.stl → ...t/wolfgang_description/urdf/torso_top.stl
diff --git a/.../wolfgang_description/urdf/upper_arm.scad → .../wolfgang_description/urdf/upper_arm.scad b/.../wolfgang_description/urdf/upper_arm.scad → .../wolfgang_description/urdf/upper_arm.scad
diff --git a/...g/wolfgang_description/urdf/upper_arm.stl → ...t/wolfgang_description/urdf/upper_arm.stl b/...g/wolfgang_description/urdf/upper_arm.stl → ...t/wolfgang_description/urdf/upper_arm.stl
diff --git a/...ng_description/urdf/upper_arm_spacer.scad → ...ng_description/urdf/upper_arm_spacer.scad b/...ng_description/urdf/upper_arm_spacer.scad → ...ng_description/urdf/upper_arm_spacer.scad
diff --git a/...ang_description/urdf/upper_arm_spacer.stl → ...ang_description/urdf/upper_arm_spacer.stl b/...ang_description/urdf/upper_arm_spacer.stl → ...ang_description/urdf/upper_arm_spacer.stl
diff --git a/.../wolfgang_description/urdf/upper_leg.scad → .../wolfgang_description/urdf/upper_leg.scad b/.../wolfgang_description/urdf/upper_leg.scad → .../wolfgang_description/urdf/upper_leg.scad
diff --git a/...g/wolfgang_description/urdf/upper_leg.stl → ...t/wolfgang_description/urdf/upper_leg.stl b/...g/wolfgang_description/urdf/upper_leg.stl → ...t/wolfgang_description/urdf/upper_leg.stl
diff --git a/...ng_description/urdf/upper_leg_spacer.scad → ...ng_description/urdf/upper_leg_spacer.scad b/...ng_description/urdf/upper_leg_spacer.scad → ...ng_description/urdf/upper_leg_spacer.scad
diff --git a/...ang_description/urdf/upper_leg_spacer.stl → ...ang_description/urdf/upper_leg_spacer.stl b/...ang_description/urdf/upper_leg_spacer.stl → ...ang_description/urdf/upper_leg_spacer.stl
diff --git a/...ang/wolfgang_description/urdf/xh-540.scad → ...bot/wolfgang_description/urdf/xh-540.scad b/...ang/wolfgang_description/urdf/xh-540.scad → ...bot/wolfgang_description/urdf/xh-540.scad
diff --git a/...gang/wolfgang_description/urdf/xh-540.stl → ...obot/wolfgang_description/urdf/xh-540.stl b/...gang/wolfgang_description/urdf/xh-540.stl → ...obot/wolfgang_description/urdf/xh-540.stl
diff --git a/...g/wolfgang_moveit_config/.setup_assistant → ...t/wolfgang_moveit_config/.setup_assistant b/...g/wolfgang_moveit_config/.setup_assistant → ...t/wolfgang_moveit_config/.setup_assistant
diff --git a/...ang/wolfgang_moveit_config/CMakeLists.txt → ...bot/wolfgang_moveit_config/CMakeLists.txt b/...ang/wolfgang_moveit_config/CMakeLists.txt → ...bot/wolfgang_moveit_config/CMakeLists.txt
diff --git a/...oveit_config/config/fake_controllers.yaml → ...oveit_config/config/fake_controllers.yaml b/...oveit_config/config/fake_controllers.yaml → ...oveit_config/config/fake_controllers.yaml
diff --git a/...ng_moveit_config/config/joint_limits.yaml → ...ng_moveit_config/config/joint_limits.yaml b/...ng_moveit_config/config/joint_limits.yaml → ...ng_moveit_config/config/joint_limits.yaml
diff --git a/...gang_moveit_config/config/kinematics.yaml → ...gang_moveit_config/config/kinematics.yaml b/...gang_moveit_config/config/kinematics.yaml → ...gang_moveit_config/config/kinematics.yaml
diff --git a/...g_moveit_config/config/ompl_planning.yaml → ...g_moveit_config/config/ompl_planning.yaml b/...g_moveit_config/config/ompl_planning.yaml → ...g_moveit_config/config/ompl_planning.yaml
diff --git a/...gang_moveit_config/config/sensors_3d.yaml → ...gang_moveit_config/config/sensors_3d.yaml b/...gang_moveit_config/config/sensors_3d.yaml → ...gang_moveit_config/config/sensors_3d.yaml
diff --git a/...lfgang_moveit_config/config/wolfgang.srdf → ...lfgang_moveit_config/config/wolfgang.srdf b/...lfgang_moveit_config/config/wolfgang.srdf → ...lfgang_moveit_config/config/wolfgang.srdf
diff --git a/...lfgang/wolfgang_moveit_config/package.xml → ..._robot/wolfgang_moveit_config/package.xml b/...lfgang/wolfgang_moveit_config/package.xml → ..._robot/wolfgang_moveit_config/package.xml
diff --git a/...lfgang/wolfgang_moveit_config/rosdoc.yaml → ..._robot/wolfgang_moveit_config/rosdoc.yaml b/...lfgang/wolfgang_moveit_config/rosdoc.yaml → ..._robot/wolfgang_moveit_config/rosdoc.yaml
diff --git a/...gang/wolfgang_pybullet_sim/CMakeLists.txt → ...ation/bitbots_pybullet_sim/CMakeLists.txt b/...gang/wolfgang_pybullet_sim/CMakeLists.txt → ...ation/bitbots_pybullet_sim/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(wolfgang_pybullet_sim)
+project(bitbots_pybullet_sim)
 
 # Add support for C++17
 if(NOT CMAKE_CXX_STANDARD)

diff --git a/..._wolfgang/wolfgang_pybullet_sim/README.md → ...simulation/bitbots_pybullet_sim/README.md b/..._wolfgang/wolfgang_pybullet_sim/README.md → ...simulation/bitbots_pybullet_sim/README.md
@@ -1,8 +1,8 @@
-This package provides a PyBullet simulation environment with ROS topic support for the Wolfgang Robot.
+This package provides a PyBullet simulation environment with ROS topic support.
 
 There are different options to use this:
-1. Start the simulation with interface `rosrun wolfgang_pybullet_sim simulation_with_gui.py`
-2. Start the simulation without interface `rosrun wolfgang_pybullet_sim simulation_headless.py`
+1. Start the simulation with interface `rosrun bitbots_pybullet_sim simulation_with_gui.py`
+2. Start the simulation without interface `rosrun bitbots_pybullet_sim simulation_headless.py`
 3. Use the python class `Simulation` in `simulation.py` to directly run a simulation without using ROS
 
 Shortcuts in gui:
@@ -15,4 +15,4 @@ Shortcuts in gui:
 
 `s` hold to step while pausing
 
-`n` gravity on/off
+`n` gravity on/off
diff --git a/...let_sim/wolfgang_pybullet_sim/__init__.py → ...llet_sim/bitbots_pybullet_sim/__init__.py b/...let_sim/wolfgang_pybullet_sim/__init__.py → ...llet_sim/bitbots_pybullet_sim/__init__.py
diff --git a/...im/wolfgang_pybullet_sim/ros_interface.py → ...sim/bitbots_pybullet_sim/ros_interface.py b/...im/wolfgang_pybullet_sim/ros_interface.py → ...sim/bitbots_pybullet_sim/ros_interface.py
diff --git a/...t_sim/wolfgang_pybullet_sim/simulation.py → ...et_sim/bitbots_pybullet_sim/simulation.py b/...t_sim/wolfgang_pybullet_sim/simulation.py → ...et_sim/bitbots_pybullet_sim/simulation.py
@@ -14,7 +14,7 @@
 from transforms3d.euler import euler2quat, quat2euler
 from transforms3d.quaternions import qinverse, quat2mat, rotate_vector
 
-from wolfgang_pybullet_sim.terrain import Terrain
+from bitbots_pybullet_sim.terrain import Terrain
 
 
 class Simulation:
@@ -177,7 +177,7 @@ def load_models(self):
             # Load field
 
             rospack = rospkg.RosPack()
-            path = os.path.join(rospack.get_path("wolfgang_pybullet_sim"), "models")
+            path = os.path.join(rospack.get_path("bitbots_pybullet_sim"), "models")
             p.setAdditionalSearchPath(path)  # needed to find field model
             self.field_index = p.loadURDF("field/field.urdf")
 

diff --git a/...llet_sim/wolfgang_pybullet_sim/terrain.py → ...ullet_sim/bitbots_pybullet_sim/terrain.py b/...llet_sim/wolfgang_pybullet_sim/terrain.py → ...ullet_sim/bitbots_pybullet_sim/terrain.py
diff --git a/.../wolfgang_pybullet_sim/config/config.yaml → ...n/bitbots_pybullet_sim/config/config.yaml b/.../wolfgang_pybullet_sim/config/config.yaml → ...n/bitbots_pybullet_sim/config/config.yaml
diff --git a/...lfgang_pybullet_sim/docs/_static/logo.png → ...itbots_pybullet_sim/docs/_static/logo.png b/...lfgang_pybullet_sim/docs/_static/logo.png → ...itbots_pybullet_sim/docs/_static/logo.png
diff --git a/...lfgang/wolfgang_pybullet_sim/docs/conf.py → ...ulation/bitbots_pybullet_sim/docs/conf.py b/...lfgang/wolfgang_pybullet_sim/docs/conf.py → ...ulation/bitbots_pybullet_sim/docs/conf.py
diff --git a/...gang/wolfgang_pybullet_sim/docs/index.rst → ...ation/bitbots_pybullet_sim/docs/index.rst b/...gang/wolfgang_pybullet_sim/docs/index.rst → ...ation/bitbots_pybullet_sim/docs/index.rst
diff --git a/bitbots_simulation/bitbots_pybullet_sim/launch/simulation.launch b/bitbots_simulation/bitbots_pybullet_sim/launch/simulation.launch
@@ -0,0 +1,17 @@
+<launch>
+    <arg name="gui" default="true"/>
+
+    <group if="$(var gui)">
+        <node pkg="bitbots_pybullet_sim" exec="simulation_with_gui.py" name="pybullet_sim" output="screen">
+            <param from="$(find-pkg-share bitbots_pybullet_sim)/config/config.yaml"/>
+        </node>
+    </group>
+    <group unless="$(var gui)">
+        <node pkg="bitbots_pybullet_sim" exec="simulation_headless.py" name="pybullet_sim" output="screen">
+            <param from="$(find-pkg-share bitbots_pybullet_sim)/config/config.yaml"/>
+        </node>
+    </group>
+    <include file="$(find-pkg-share bitbots_webots_sim)/launch/imu_filter_sim.launch">
+        <arg name="sim" value="true"/>
+    </include>
+</launch>
diff --git a/...ang_pybullet_sim/models/field/config.json → ...ots_pybullet_sim/models/field/config.json b/...ang_pybullet_sim/models/field/config.json → ...ots_pybullet_sim/models/field/config.json
diff --git a/...fgang_pybullet_sim/models/field/field.stl → ...tbots_pybullet_sim/models/field/field.stl b/...fgang_pybullet_sim/models/field/field.stl → ...tbots_pybullet_sim/models/field/field.stl
diff --git a/...gang_pybullet_sim/models/field/field.urdf → ...bots_pybullet_sim/models/field/field.urdf b/...gang_pybullet_sim/models/field/field.urdf → ...bots_pybullet_sim/models/field/field.urdf
diff --git a/...g_pybullet_sim/models/field/goalsally.stl → ...s_pybullet_sim/models/field/goalsally.stl b/...g_pybullet_sim/models/field/goalsally.stl → ...s_pybullet_sim/models/field/goalsally.stl
diff --git a/...bullet_sim/models/field/goalsallyback.stl → ...bullet_sim/models/field/goalsallyback.stl b/...bullet_sim/models/field/goalsallyback.stl → ...bullet_sim/models/field/goalsallyback.stl
diff --git a/...bullet_sim/models/field/goalsopponent.stl → ...bullet_sim/models/field/goalsopponent.stl b/...bullet_sim/models/field/goalsopponent.stl → ...bullet_sim/models/field/goalsopponent.stl
diff --git a/...et_sim/models/field/goalsopponentback.stl → ...et_sim/models/field/goalsopponentback.stl b/...et_sim/models/field/goalsopponentback.stl → ...et_sim/models/field/goalsopponentback.stl
diff --git a/...fgang_pybullet_sim/models/field/lines.stl → ...tbots_pybullet_sim/models/field/lines.stl b/...fgang_pybullet_sim/models/field/lines.stl → ...tbots_pybullet_sim/models/field/lines.stl
diff --git a/...pybullet_sim/models/field/penaltyally.stl → ...pybullet_sim/models/field/penaltyally.stl b/...pybullet_sim/models/field/penaltyally.stl → ...pybullet_sim/models/field/penaltyally.stl
diff --git a/...llet_sim/models/field/penaltyopponent.stl → ...llet_sim/models/field/penaltyopponent.stl b/...llet_sim/models/field/penaltyopponent.stl → ...llet_sim/models/field/penaltyopponent.stl
diff --git a/...fgang_pybullet_sim/models/field/table.stl → ...tbots_pybullet_sim/models/field/table.stl b/...fgang_pybullet_sim/models/field/table.stl → ...tbots_pybullet_sim/models/field/table.stl
diff --git a/...gang_pybullet_sim/models/field/table2.stl → ...bots_pybullet_sim/models/field/table2.stl b/...gang_pybullet_sim/models/field/table2.stl → ...bots_pybullet_sim/models/field/table2.stl
diff --git a/...gang_pybullet_sim/models/field/table3.stl → ...bots_pybullet_sim/models/field/table3.stl b/...gang_pybullet_sim/models/field/table3.stl → ...bots_pybullet_sim/models/field/table3.stl
diff --git a/...gang_pybullet_sim/models/field/table4.stl → ...bots_pybullet_sim/models/field/table4.stl b/...gang_pybullet_sim/models/field/table4.stl → ...bots_pybullet_sim/models/field/table4.stl
diff --git a/...olfgang/wolfgang_pybullet_sim/package.xml → ...mulation/bitbots_pybullet_sim/package.xml b/...olfgang/wolfgang_pybullet_sim/package.xml → ...mulation/bitbots_pybullet_sim/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>wolfgang_pybullet_sim</name>
+  <name>bitbots_pybullet_sim</name>
   <version>1.3.0</version>
-  <description>Simulation environment using PyBullet for Wolfgang robot.</description>
+  <description>Simulation environment using PyBullet.</description>
 
   <maintainer email="bestmann@informatik.uni-hamburg.de">Marc Bestmann </maintainer>
   <maintainer email="info@bit-bots.de">Hamburg Bit-Bots</maintainer>
@@ -21,15 +21,15 @@
   <depend>rosgraph_msgs</depend>
   <depend>std_msgs</depend>
   <depend>bitbots_docs</depend>
-  <depend>wolfgang_webots_sim</depend>
+  <depend>bitbots_webots_sim</depend>
   <depend>tf_transformations</depend>
   <depend>python3-transforms3d</depend>
   <depend>python3-numpy</depend>
 
   <export>
-      <bitbots_documentation>
-        <status>unknown</status>
-        <language>python</language>
-      </bitbots_documentation>
+    <bitbots_documentation>
+      <status>unknown</status>
+      <language>python</language>
+    </bitbots_documentation>
   </export>
 </package>
diff --git a/...bullet_sim/scripts/simulation_headless.py → ...bullet_sim/scripts/simulation_headless.py b/...bullet_sim/scripts/simulation_headless.py → ...bullet_sim/scripts/simulation_headless.py
@@ -2,9 +2,9 @@
 import threading
 
 import rclpy
+from bitbots_pybullet_sim.ros_interface import ROSInterface
+from bitbots_pybullet_sim.simulation import Simulation
 from rclpy.node import Node
-from wolfgang_pybullet_sim.ros_interface import ROSInterface
-from wolfgang_pybullet_sim.simulation import Simulation
 
 if __name__ == "__main__":
     rclpy.init(args=None)

diff --git a/...bullet_sim/scripts/simulation_with_gui.py → ...bullet_sim/scripts/simulation_with_gui.py b/...bullet_sim/scripts/simulation_with_gui.py → ...bullet_sim/scripts/simulation_with_gui.py
@@ -2,9 +2,9 @@
 import threading
 
 import rclpy
+from bitbots_pybullet_sim.ros_interface import ROSInterface
+from bitbots_pybullet_sim.simulation import Simulation
 from rclpy.node import Node
-from wolfgang_pybullet_sim.ros_interface import ROSInterface
-from wolfgang_pybullet_sim.simulation import Simulation
 
 if __name__ == "__main__":
     rclpy.init(args=None)

diff --git a/...s_wolfgang/wolfgang_pybullet_sim/setup.py → ..._simulation/bitbots_pybullet_sim/setup.py b/...s_wolfgang/wolfgang_pybullet_sim/setup.py → ..._simulation/bitbots_pybullet_sim/setup.py
@@ -3,7 +3,7 @@
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
-    packages=["wolfgang_pybullet_sim"],
+    packages=["bitbots_pybullet_sim"],
     # scripts=['bin/myscript'],
     package_dir={"": "src"},
 )

diff --git a/...rc/wolfgang_pybullet_sim/ros_interface.py → ...src/bitbots_pybullet_sim/ros_interface.py b/...rc/wolfgang_pybullet_sim/ros_interface.py → ...src/bitbots_pybullet_sim/ros_interface.py
diff --git a/..._wolfgang/wolfgang_robocup_api/.gitignore → ...simulation/bitbots_robocup_api/.gitignore b/..._wolfgang/wolfgang_robocup_api/.gitignore → ...simulation/bitbots_robocup_api/.gitignore
diff --git a/...s_wolfgang/wolfgang_robocup_api/README.md → ..._simulation/bitbots_robocup_api/README.md b/...s_wolfgang/wolfgang_robocup_api/README.md → ..._simulation/bitbots_robocup_api/README.md
@@ -1 +1 @@
-This package bridges between the [official Humanoid League RoboCup Proto3 API](https://cdn.robocup.org/hl/wp/2021/05/v-hsc_simulator_api_v1.0.pdf) and our ROS topics for the Wolfgang Robot.
+This package bridges between the [official Humanoid League RoboCup Proto3 API](https://cdn.robocup.org/hl/wp/2021/05/v-hsc_simulator_api_v1.0.pdf) and our ROS topics.
diff --git a/bitbots_simulation/bitbots_robocup_api/config/bitbots_walk.json b/bitbots_simulation/bitbots_robocup_api/config/bitbots_walk.json
@@ -0,0 +1,62 @@
+{
+  "name": "Bit-Bots",
+  "players": {
+    "1": {
+      "proto": "Wolfgang",
+      "dockerTag": "latest",
+      "dockerCmd": "roslaunch bitbots_robocup_api robocup_walk.launch",
+      "halfTimeStartingPose": {
+        "translation": [
+          -3.6,
+          -3.20,
+          0.43
+        ],
+        "rotation": [
+          0.13,
+          -0.13,
+          -0.98,
+          -1.57
+        ]
+      },
+      "reentryStartingPose": {
+        "translation": [
+          -3.6,
+          -3.20,
+          0.43
+        ],
+        "rotation": [
+          0.0,
+          -0.0,
+          -1.0,
+          -1.57
+        ]
+      },
+      "shootoutStartingPose": {
+        "translation": [
+          2.6,
+          0,
+          0.43
+        ],
+        "rotation": [
+          0,
+          0.98,
+          0.13,
+          0.26
+        ]
+      },
+      "goalKeeperStartingPose": {
+        "translation": [
+          -4.47,
+          0,
+          0.43
+        ],
+        "rotation": [
+          -0.13,
+          0,
+          0.98,
+          3.14
+        ]
+      }
+    }
+  }
+}
diff --git a/.../wolfgang_robocup_api/config/devices.json → ...n/bitbots_robocup_api/config/devices.json b/.../wolfgang_robocup_api/config/devices.json → ...n/bitbots_robocup_api/config/devices.json
diff --git a/...ang/wolfgang_robocup_api/config/team.json → ...tion/bitbots_robocup_api/config/team.json b/...ang/wolfgang_robocup_api/config/team.json → ...tion/bitbots_robocup_api/config/team.json
diff --git a/...launch/wolfgang_robocup_api_bridge.launch → .../launch/bitbots_robocup_api_bridge.launch b/...launch/wolfgang_robocup_api_bridge.launch → .../launch/bitbots_robocup_api_bridge.launch
@@ -1,16 +1,16 @@
 <?xml version="1.0"?>
 <launch>
     <node pkg="hlvs_player" exec="hlvs_player" output="screen">
-        <param name="devices_file" value="$(find-pkg-share wolfgang_robocup_api)/config/devices.json"/>
+        <param name="devices_file" value="$(find-pkg-share bitbots_robocup_api)/config/devices.json"/>
         <remap from="camera/image_raw" to="camera/image_proc"/>
         <remap from="imu/data" to="imu/data_raw"/>
     </node>
     <!-- The hlvs_player expects the joint command positions as a 'JointState' message.
     We therfore need to convert the messages from our custom 'JointCommand' message to the
     more common 'JointState' layout. -->
-    <node pkg="wolfgang_robocup_api" exec="command_proxy" output="screen">
+    <node pkg="bitbots_robocup_api" exec="command_proxy" output="screen">
         <remap from="input" to="DynamixelController/command"/>
         <remap from="output" to="joint_command"/>
     </node>
-    <include file="$(find-pkg-share wolfgang_webots_sim)/launch/imu_filter_sim.launch" />
+    <include file="$(find-pkg-share bitbots_webots_sim)/launch/imu_filter_sim.launch" />
 </launch>
diff --git a/...ocup_api/launch/robocup_teamplayer.launch → ...ocup_api/launch/robocup_teamplayer.launch b/...ocup_api/launch/robocup_teamplayer.launch → ...ocup_api/launch/robocup_teamplayer.launch
@@ -10,7 +10,7 @@
     </group>
 
     <!-- load the robocup api -->
-    <include file="$(find-pkg-share wolfgang_robocup_api)/launch/wolfgang_robocup_api_bridge.launch" />
+    <include file="$(find-pkg-share bitbots_robocup_api)/launch/bitbots_robocup_api_bridge.launch" />
 
     <!-- launch the team player -->
     <include file="$(find-pkg-share bitbots_bringup)/launch/teamplayer.launch">

diff --git a/...ng_robocup_api/launch/robocup_walk.launch → ...ts_robocup_api/launch/robocup_walk.launch b/...ng_robocup_api/launch/robocup_walk.launch → ...ts_robocup_api/launch/robocup_walk.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-    <include file="$(find wolfgang_robocup_api)/launch/wolfgang_robocup_api_bridge.launch" />
+    <include file="$(find bitbots_robocup_api)/launch/bitbots_robocup_api_bridge.launch" />
 
     <include file="$(find bitbots_bringup)/launch/motion_standalone.launch">
         <arg name="sim" value="true" />

diff --git a/...wolfgang/wolfgang_robocup_api/package.xml → ...imulation/bitbots_robocup_api/package.xml b/...wolfgang/wolfgang_robocup_api/package.xml → ...imulation/bitbots_robocup_api/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>wolfgang_robocup_api</name>
+  <name>bitbots_robocup_api</name>
   <version>0.0.0</version>
   <description>Bridge between the official Humanoid League RoboCup Proto3 API
     and our ROS topics for the Wolfgang Robot
@@ -23,7 +23,7 @@
   <depend>hlvs_player</depend>
   <depend>rclpy</depend>
   <depend>sensor_msgs</depend>
-  <depend>wolfgang_webots_sim</depend>
+  <depend>bitbots_webots_sim</depend>
   <depend>protobuf-dev</depend>
   <depend>urdfdom_py</depend>
   <depend>topic_tools</depend>

diff --git a/...robocup_api/resource/wolfgang_robocup_api → ..._robocup_api/resource/bitbots_robocup_api b/...robocup_api/resource/wolfgang_robocup_api → ..._robocup_api/resource/bitbots_robocup_api
diff --git a/...ang/wolfgang_robocup_api/scripts/start.sh → ...tion/bitbots_robocup_api/scripts/start.sh b/...ang/wolfgang_robocup_api/scripts/start.sh → ...tion/bitbots_robocup_api/scripts/start.sh
@@ -138,4 +138,4 @@ sed -i "/^    target_ip:/s/^.*$/    target_ip: $ROBOCUP_MIRROR_SERVER_IP/" $TEAM
 # Start ROS #
 #############
 
-exec ros2 launch wolfgang_robocup_api robocup_teamplayer.launch record:=$RECORD
+exec ros2 launch bitbots_robocup_api robocup_teamplayer.launch record:=$RECORD
diff --git a/bitbots_simulation/bitbots_robocup_api/setup.cfg b/bitbots_simulation/bitbots_robocup_api/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/bitbots_robocup_api
+[install]
+install_scripts=$base/lib/bitbots_robocup_api
diff --git a/...ts_wolfgang/wolfgang_robocup_api/setup.py → ...s_simulation/bitbots_robocup_api/setup.py b/...ts_wolfgang/wolfgang_robocup_api/setup.py → ...s_simulation/bitbots_robocup_api/setup.py
@@ -3,7 +3,7 @@
 
 from setuptools import find_packages, setup
 
-package_name = "wolfgang_robocup_api"
+package_name = "bitbots_robocup_api"
 
 setup(
     name=package_name,

diff --git a/...ocup_api/wolfgang_robocup_api/__init__.py → ...ocup_api/wolfgang_robocup_api/__init__.py b/...ocup_api/wolfgang_robocup_api/__init__.py → ...ocup_api/wolfgang_robocup_api/__init__.py
diff --git a/...api/wolfgang_robocup_api/command_proxy.py → ...api/wolfgang_robocup_api/command_proxy.py b/...api/wolfgang_robocup_api/command_proxy.py → ...api/wolfgang_robocup_api/command_proxy.py
diff --git a/...s_wolfgang/wolfgang_webots_sim/.gitignore → ..._simulation/bitbots_webots_sim/.gitignore b/...s_wolfgang/wolfgang_webots_sim/.gitignore → ..._simulation/bitbots_webots_sim/.gitignore
diff --git a/...lfgang/wolfgang_webots_sim/CMakeLists.txt → ...ulation/bitbots_webots_sim/CMakeLists.txt b/...lfgang/wolfgang_webots_sim/CMakeLists.txt → ...ulation/bitbots_webots_sim/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(wolfgang_webots_sim)
+project(bitbots_webots_sim)
 
 # Add support for C++17
 if(NOT CMAKE_CXX_STANDARD)

diff --git a/...ts_wolfgang/wolfgang_webots_sim/README.md → ...s_simulation/bitbots_webots_sim/README.md b/...ts_wolfgang/wolfgang_webots_sim/README.md → ...s_simulation/bitbots_webots_sim/README.md
diff --git a/...ebots_sim/wolfgang_webots_sim/__init__.py → ...webots_sim/bitbots_webots_sim/__init__.py b/...ebots_sim/wolfgang_webots_sim/__init__.py → ...webots_sim/bitbots_webots_sim/__init__.py
diff --git a/...ang_webots_sim/webots_robot_controller.py → ...ots_webots_sim/webots_robot_controller.py b/...ang_webots_sim/webots_robot_controller.py → ...ots_webots_sim/webots_robot_controller.py
diff --git a/...sim/webots_robot_supervisor_controller.py → ...sim/webots_robot_supervisor_controller.py b/...sim/webots_robot_supervisor_controller.py → ...sim/webots_robot_supervisor_controller.py
@@ -1,5 +1,5 @@
-from wolfgang_webots_sim.webots_robot_controller import RobotController
-from wolfgang_webots_sim.webots_supervisor_controller import SupervisorController
+from bitbots_webots_sim.webots_robot_controller import RobotController
+from bitbots_webots_sim.webots_supervisor_controller import SupervisorController
 
 
 class RobotSupervisorController(SupervisorController, RobotController):

diff --git a/...ebots_sim/webots_supervisor_controller.py → ...ebots_sim/webots_supervisor_controller.py b/...ebots_sim/webots_supervisor_controller.py → ...ebots_sim/webots_supervisor_controller.py
diff --git a/...wolfgang_webots_sim/docs/_static/logo.png → .../bitbots_webots_sim/docs/_static/logo.png b/...wolfgang_webots_sim/docs/_static/logo.png → .../bitbots_webots_sim/docs/_static/logo.png
diff --git a/...wolfgang/wolfgang_webots_sim/docs/conf.py → ...imulation/bitbots_webots_sim/docs/conf.py b/...wolfgang/wolfgang_webots_sim/docs/conf.py → ...imulation/bitbots_webots_sim/docs/conf.py
diff --git a/...lfgang/wolfgang_webots_sim/docs/index.rst → ...ulation/bitbots_webots_sim/docs/index.rst b/...lfgang/wolfgang_webots_sim/docs/index.rst → ...ulation/bitbots_webots_sim/docs/index.rst
@@ -28,7 +28,7 @@ Run the script to adapt the urdf to be usable by webots2urdf
 
 .. code-block:: bash
 
-  roscd wolfgang_webots_sim
+  roscd bitbots_webots_sim
   python scripts/fix_urdf_for_webots.py ../wolfgang_description/urdf/robot.urdf webots_robot.urdf
 
 Run the conversion script from urdf to proto file

diff --git a/...ebots_sim/launch/fake_localization.launch → ...ebots_sim/launch/fake_localization.launch b/...ebots_sim/launch/fake_localization.launch → ...ebots_sim/launch/fake_localization.launch
@@ -6,5 +6,5 @@
     <node pkg="tf2_ros" exec="static_transform_publisher" name="donna_map" args="0 0 0 0 0 0 1 map donna/map" />
     <node pkg="tf2_ros" exec="static_transform_publisher" name="melody_map" args="0 0 0 0 0 0 1 map melody/map" />
 
-    <node pkg="wolfgang_webots_sim" exec="localization_faker.py" name="localization_faker"/>
-</launch>
+    <node pkg="bitbots_webots_sim" exec="localization_faker.py" name="localization_faker"/>
+</launch>
diff --git a/...g_webots_sim/launch/imu_filter_sim.launch → ...s_webots_sim/launch/imu_filter_sim.launch b/...g_webots_sim/launch/imu_filter_sim.launch → ...s_webots_sim/launch/imu_filter_sim.launch