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Getting Started
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The TriFingerPlatform Class
===========================

The ``TriFingerPlatform`` class contains the pyBullet simulation of the
TriFinger robot and provides an interface that is mostly identical with that of
the real robot.  This way, transitioning from simulation to real robot later
should only require very few changes in your code.

.. literalinclude:: ../examples/demo_trifinger_platform_minimal.py

For a documentation on the full API see :doc:`trifingerplatform`.


Gym Environment
===============

We provide a basic Gym environment
:class:`~rrc_example_package.cube_trajectory_env.SimCubeTrajectoryEnv` for the
challenge task.

Below is a simple demo showing how the environment is used to run a "random
policy" for one episode.

.. literalinclude:: ../examples/demo_random_policy.py

The environment uses the same reward function that will also be used to evaluate
submissions at the end of this stage of the challenge.

See the :doc:`API documentation <gym_env_api>` for more details.

You may use this environment as is for your training but you may also modify it
or implement your own one (or go a completely different way, there is no
obligation to use Gym).