This lab is focused on robot-object grasp pose generation using physics-based simulators.

Useful links:

User Manual for the Pybullet Physics Engine.

Code to visualize Pybullet in Google Colab.

Pybullet-grasp library.

Assignment:

This assignment explores Pybullet, one of the most common physics engines, and applies it to grasp generation for robotics. Students are provided with a notebook with PyBullet installed, a robot hand model, and five object models. The task is to generate the best grasp for each object by evaluating the generated grasps with known grasping metrics.

Please download the source code and upload it to your Google Drive.

Slides for the labs and HW3 are also available here.