How to change the object in the task of pick and place

[qgallouedec]

How to change the object in the task of pick and place

[qgallouedec]

I would advise to create you own task, following the custom env section of the doc. However, for a minimal effort, you can just modify these lines of PickAndPlace task

panda-gym/panda_gym/envs/tasks/pick_and_place.py

Lines 36 to 42 in 09ecfb6

	self.sim.create_box(
	body_name="object",
	half_extents=np.ones(3) * self.object_size / 2,
	mass=1.0,
	position=np.array([0.0, 0.0, self.object_size / 2]),
	rgba_color=np.array([0.1, 0.9, 0.1, 1.0]),
	)

with, for example (if you want a sphere instead)

self.sim.create_sphere(
        body_name="object", 
        radius=self.object_size / 2,
        mass=1.0,
        position=np.array([0.0, 0.0, self.object_size / 2]),
        rgba_color=np.array([0.1, 0.9, 0.1, 1.0]), 
)

[Jay-Vim-Lv]

OK, thank you very much. l would have a try to create a new task