Set to move in a two-dimensional plane

[ChenyangRan]

Hi, I'm using the panda-gym to create my UR3 Reach. But when I set the initial pos, and set_action(np.array(0,0,0)), the ur3 switch its pos automatically. It seems to automatically align tcp with xyz in the environment. Could you please tell me how to fixed the initial pos and just move in 2D?

Before:

set action is [0,0,0]

[qgallouedec]

No 100% to understand. 0,0,0 is the position reached by the ee in the second image?

[ChenyangRan]

No 100% to understand. 0,0,0 is the position reached by the ee in the second image?

No, I want to do nothing. But the ee change its position.

[qgallouedec]

How have you set the neutral position? With self.neutral_joint_values?

panda-gym/panda_gym/envs/robots/panda.py

Line 45 in 746ee4d

self.neutral_joint_values = np.array([0.00, 0.41, 0.00, -1.85, 0.00, 2.26, 0.79, 0.00, 0.00])

[ChenyangRan]

self.neutral_joint_values = np.array([0.00, 0.41, 0.00, -1.85, 0.00, 2.26, 0.79, 0.00, 0.00])

I just have tested the neutral_joint_values, but it still hapeended.
Start

After

[qgallouedec]

can you share the code of your robot?

[ChenyangRan]

It's ok. Thank you very much.
upload.zip