Manual control

It is possible to manually control the robot, giving it deterministic actions, depending on the observations. For example, for the realization of the task Reach, here is a possibility for the realization of the task.

import gymnasium as gym
import panda_gym

env = gym.make("PandaReach-v3", render_mode="human")
observation, info = env.reset()

for _ in range(1000):
    current_position = observation["observation"][0:3]
    desired_position = observation["desired_goal"][0:3]
    action = 5.0 * (desired_position - current_position)
    observation, reward, terminated, truncated, info = env.step(action)

    if terminated or truncated:
        observation, info = env.reset()


The result is as follows.

Manual push rendering