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 gym
import panda_gym

env = gym.make("PandaReach-v2", render=True)
obs = env.reset()
done = False

while not done:
    current_position = obs["observation"][0:3]
    desired_position = obs["desired_goal"][0:3]
    action = 5.0 * (desired_position - current_position)
    obs, reward, done, info = env.step(action)
    env.render()

env.close()

The result is as follows.

Manual push rendering