Customize environments

[kzorina]

Hello!

I am trying to modify the code to be able to compare it to other planning approaches. I would be glad if you could provide some guidance. The first task I would like to solve is moving objects in 3D, f.e. if I have some initial pose and some goal pose. Can you please advise how to modify the code to solve this problem with custom objects (created as blocks of a certain size or constructed from meshes) in some custom environment (table with a certain size, the certain pose of the robot)? Maybe you can point me to some files/functions that I would need to update in order to customize the environment. Thank you very much n advance!

[kzorina]

I managed to modify one of the environments with custom objects. I will leave notes on what I did here:

• added new .urdf in load_world() function from run.py and set their poses
• modified body_names in load_world() function
• added my objects to predicates in the domain.pddl

I am still not sure about how to switch to another robot, though... Do I understand correctly that I would need to change URDF and also update all the functions imported from examples.pybullet.utils.pybullet_tools.kuka_primitives to work with a new robot?