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

[Jay-Vim-Lv]

hello, i failed to find whe way when i want to change the object in the task of pickandplace to see the performance. i noticed that the object of pickandplace task is created by the function create_box (or _create_geometry in fact ) in the pybullet.py It seemd i can achived my goal through modefing the self. physics_client.createMultiBody. so i change the code between line 575 and 579, added the filename where the object (i want to load, obj type) saved. But obviously my mehotd is not correct. I faild to change the object, so i'd like to ask you how to do that if you have time to reply me.

[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

https://github.com/qgallouedec/panda-gym/blob/09ecfb6d57e0b516ae248ef1d54a4cc7b3db71f1/panda_gym/envs/tasks/pick_and_place.py#L36-L42

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