Documents for creating environments for grasping

[xlber20]

I found that the documentations on github is only a high level description but lacks detailed guidance to create environments for grasping. If I want to create a new environment for grasping with customized hand is there a tutorial for that? Thanks.

[Erwin Coumans]

First, you need to learn how to create an OpenAI Gym environment with PyBullet:
https://medium.com/@gerardmaggiolino/cr ... 895a622b24

then you should investigate how this script works:
https://github.com/bulletphysics/bullet ... a_grasp.py

pip3 install --upgrade --user pybullet
python3 -m pybullet_robots.panda.loadpanda_grasp

Go from there, decide on action space, observation space and reward function.
Good luck!