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@erwincoumans erwincoumans released this Dec 21, 2019 · 648 commits to master since this release

Bullet 2.89 includes a new implementation of volumetric deformable objects and cloth based on the Finite Element Method, thanks to Xuchen Han. Two-way coupling between deformables and rigid/multi body is achieved using a unified constraint solver.

PyBullet is improved for robotics sim-to-real with realistic models of Laikago quadruped and an implementation of Deep Mimic.

pip3 install pybullet
python3 -m pybullet_envs.examples.laikago
python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt

image
Video of Deep Mimic backflip: https://www.youtube.com/watch?v=aiWxIjtMMFI
See also the
PyBullet Quickstart Guide

Finite Element Deformable kept in a grasp using friction:
image

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@erwincoumans erwincoumans released this Dec 31, 2018 · 1568 commits to master since this release

A lot of work this year went into improving PyBullet for robotics and reinforcement learning research.
The SDK was used in several published research papers by Google Brain Robotics, including our RSS 2018 paper "Sim-to-Real: Learning Agile Locomotion For Quadruped Robots" , see the video here
img
Some of the improvements are related to maintaining determinism when saving and restoring a simulation, and improving the accuracy of GJK convex collision detection and btMultiBody.

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@erwincoumans erwincoumans released this Sep 29, 2017 · 2895 commits to master since this release

Bullet 2.87 has improved support for robotics, reinforcement learning and VR. In particular, see the "Reinforcement Learning" section in the pybullet quickstart guide at http://pybullet.org . There are also preliminary C# bindings to allow the use of pybullet inside Unity 3D for robotics and reinforcement learning.

Here are some videos:

Some example training the pybullet_pendulum using TensorFlow Agents PPO:
pip install pybullet, agents, tensorflow, gym

python -m pybullet_envs.agents.train_ppo --config=pybullet_pendulum --logdir=pendulum
tensorboard --logdir=pendulum --port=2222
python -m pybullet_envs.agents.visualize_ppo --logdir=pendulum/xxxxx --outdir=pendulum_video

image

Tensorboard training progress image for the Minitaur locomotion:
minitaur

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@erwincoumans erwincoumans released this Feb 19, 2017 · 3933 commits to master since this release

The Bullet 2.86 has improved Python bindings, pybullet, for robotics, machine learning and VR, see the pybullet quickstart guide.

Furthermore, the PGS LCP constraint solver has a new option to terminate as soon as the residual (error) is below a specified tolerance (instead of terminating after a fixed number of iterations). There are optional multithreaded optimizations, thanks to lunkhound. There is preliminary support to load some MuJoCo MJCF xml files (see data/mjcf),see Bullet VR haptic experiments with a VR glove:

https://www.youtube.com/watch?v=0JC-yukK-jo

app_sharedmemoryphysics_vr_vs20 2017-01-26 10-12-45-16

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Jan 25, 2017

2.86

Merge pull request #932 from erwincoumans/master
minor fixes, report visual frame instead of inertial frame in visualShapeData

@erwincoumans erwincoumans released this Oct 15, 2016 · 4343 commits to master since this release

Bullet 2.85 (previously known as 2.84) introduces pybullet, easy to use Python bindings, as well as Virtual Reality support for HTC Vice and Oculus Rift. In addition, there is support for Inverse Kinematics and Inverse Dynamics. This release is marked as 'prerelease' until the documentation is updated. See also this video: https://www.youtube.com/watch?v=VMJyZtHQL50
img

Assets 3
Oct 13, 2016

2.85

Merge pull request #834 from erwincoumans/master
Add rudimentary 'saveWorld' command in shared memory API and pybullet…
Oct 8, 2016

2.84

Merge pull request #822 from erwincoumans/master
SharedMemory API: don't enable rolling friction by default for progra…

@erwincoumans erwincoumans released this Jan 12, 2016 · 5030 commits to master since this release

Bullet Physics SDK 2.83 is a first release using the new example browser. See the docs/BulletQuickstart.pdf how to get started.

bullet2 83

Note that the example browser needs a bit more work and some old demos are not in the new example structures yes, this is a todo for a future release.

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Aug 11, 2015
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