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Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
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How to do simulation of flexible object in pybullet #2057

Closed houliwei closed 3 years ago

houliwei commented 5 years ago

Can pybullet model a flexible object with certain stiffness ？

adverley commented 5 years ago

Bullet contains soft body dynamics to a certain degree. To examine the options, look at this youtube video or build Bullet with the soft body option, run the example browser and look at the soft body examples.

PyBullet has some bindings to the soft body part of the engine, see the examples. Do mind that this is very experimental, old code and not as stable as the rigid body simulation of the physics engine.

erwincoumans commented 5 years ago

Some people used the deformable simulation in PyBullet, see https://sites.google.com/view/sim-to-real-deformable We don't have many resources for this, so we focus on the rigid/multibody/collision detection parts.

erwincoumans commented 5 years ago

You can also use createConstraint with a fixed constraint using limited force to mimic soft constraints. See the constraint.zip example here: https://github.com/bulletphysics/bullet3/issues/2100#issuecomment-461621661

DanielTakeshi commented 3 years ago

@houliwei We have been able to use deformables in PyBullet in this recent work: https://berkeleyautomation.github.io/bags/