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Pybullet rigid and multi body representation

Posted: Thu Apr 01, 2021 7:50 pm
by eng.mostafa_2005
Hi all,

Does Pybullet only support the btmultibody architecture from Featherstone?
Is there any parameter we can set that allow us to use the btrigidbody architecture?
Another question does the MLCP equations will be different in both architectures (btrigidbody and btmultibody )

Thanks all for reviewing my question.