The robots doesn't move during iteration

[speedhawk]

Hi, I am using deepbots to construct an environment for my path planning project. I have successfully executed the CartPole game as the tutorial. When I want to construct an action space of my own, however, I always failed. Just as the same sight of CartPole, I set my action in to discrete 3 instead of 2 meaning my robots got three actions totally:

# six elements include x-axis position, y-axis position, ps0 value, ps1 value, ps6 value, ps7 value.
self.observation_space = Box(low=np.array([-0.25, -0.88, 0.00, 0.00, 0.00, 0.00]),
                                     high=np.array([0.75, 0.12, 4095.00, 4095.00, 4095.00, 4095.00]),
                                     dtype=np.float64)

self.action_space = Discrete(3)

self.robot = self.getSelf()

self.leftMotor = self.getDevice("left wheel motor")
self.rightMotor = self. getDevice("right wheel motor")
self.leftMotor.setPosition(float('inf'))
self.rightMotor.setPosition(float('inf'))
self.leftMotor.setVelocity(0.0)
self.rightMotor.setVelocity(0.0)`

Additionally, I did the same setting in apply_action() method according to the tutorial, in which I mapped the three actions to my robots with detailed behaviors:

def apply_action(self, action):
        action = int(action[0])
        print("action: ", action)

        l_speed = 3.14
        r_speed = 3.14

        if action == 0:     # go straight
            l_speed = 3.14
            r_speed = 3.14
        if action == 1:     # turn right
            l_speed = 3.14
            r_speed = -3.14
        if action == 2:     # turn left
            l_speed = -3.14
            r_speed = 3.14

        self.leftMotor.setVelocity(l_speed)
        self.rightMotor.setVelocity(r_speed)

Here, The control algorithms may be not correct but the robots should at least stochastically move. During iteration, however, I found that my robot (in my projects, I used an e-punk robot) never moved even one step no matter how many timestep I set. I don't know what happened to my code and hope anyone can help me to fix it. Many thanks!

[tsampazk]

Hello! You could try setting the positions of the motors to infinite every time you use setVelocity, you can see an example here.

Other than that, make sure that you get proper action output from the agent (i can see that you are already printing action) and/or try setting the motor speeds directly to make sure they are properly set on Webots. Let me know if that helps 😄 .

[tsampazk]

I will convert this to a discussion as it is not really an issue with any of the tutorials 😃