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