Real-Time Physics Simulation Forum

HI guys, I am new to PyBullet and am not sure how to make the robot arm UR5 point down towards the table.
Please see my code here: https://github.com/culurciello/pybullet_PPO
If you have any pointers it is much appreciate and thanks a lot!
EUGE

never mind, figured it out, just had to specify better start points in reset, so it point down:

# reset robot simulation and position:
joint_angles = (-0.34, -1.57, 1.80, -1.57, -1.57, 0.00) # pi/2 = 1.5707
self.set_joint_angles(joint_angles)