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@erwincoumans erwincoumans released this Dec 21, 2019 · 127 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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