Obstacle avoidance KUKA using DRL

Hello everyone. i have a very important project where i’m working on the obstacle avoidance and path planning of a kuka manipulator using DRL algorithms. i’m working on coppeliasim and using stablebaseline for an easier route. I’ve been facing some difficulties so i would reallt really appreciate some help.

The kuka is supposed to avoid obstacles and reach an object on the table(so with drl) , pick it up ( no drl here, its scripted) THEN do drl again to reach the destination and place the object. Now my biggest problem is that i’m not sure if i can train the agent to reach the object, pause the training?Restart the training? I thought about training 2 agents, but in all cases, the action of picking and placing is not done with DRL.

I have no idea how the flow should be. I would really appreciate if any of you has suggestions.