How can I set ResetFcn?

Hello,

I'm trying to set resetFcn.

My purpose is set initialcondition and target posture in every trainsets.

1. s0 = [1 0 0 0] **s0 is initial state
2. a0 = [1; 0; 0; 0;] ** a0 is initial action
3. sG = [1 rand rand rand] **sG is target posture

Here is my code:

env.ResetFcn = @(in)motorResetFcn(in); // start to set ResetFcn called 'motorResetFcn'

Here is my code : motorResetFcn.m

function in = motorReset(in)

% randomize target posture

blk = sprintf('sphericalMotorRL/Target_Posture');

t = ['1' '2/3*pi*randn-pi/3' '2/3*pi*randn-pi/3' '2/3*pi*randn-pi/3'];

in = setBlockParameter(in,blk,'Value',num2str(t));

% randomize initial action and state

h = ['1' '0' '0' '0'];

blk = 'sphericalMotorRL/sphericalMotor/s';

in = setBlockParameter(in,blk,'InitialCondition',num2str(h));

h = ['1'; '0'; '0'; '0';];

blk = 'sphericalMotorRL/sphericalMotor/a';

in = setBlockParameter(in,blk,'InitialCondition',num2str(h));

end

My initialcondition and target posture is maxtrix,

I don't know how to declare maxtrix..... what do I have to fix?

Answer 1

[TED MOSBY]

Hi,

As you haven't mentioned the exact problem you are facing, I can address the issue with your code which I noticed:

You're trying to create matrix-valued strings. The variables t and h are being constructed as character arrays instead of proper numeric arrays that are converted to strings. You need to format the matrix properly using mat2str:

t = ['1' '2/3*pi*randn-pi/3' '2/3*pi*randn-pi/3' '2/3*pi*randn-pi/3'];
h = ['1' '0' '0' '0'];
h = ['1'; '0'; '0'; '0';];

These lines create character arrays (strings), not numerical arrays (matrices). For example, ['1' '0' '0' '0'] is the string "1000", not the row vector [1 0 0 0].

I have corrected the part of the code below:

function in = motorResetFcn(in)
    blk = 'sphericalMotorRL/Target_Posture';
    t = [1, 2/3*pi*randn - pi/3, 2/3*pi*randn - pi/3, 2/3*pi*randn - pi/3];
    in = setBlockParameter(in, blk, 'Value', mat2str(t));
    
    blk = 'sphericalMotorRL/sphericalMotor/s';
    s0 = [1, 0, 0, 0];
    in = setBlockParameter(in, blk, 'InitialCondition', mat2str(s0));
    
    blk = 'sphericalMotorRL/sphericalMotor/a';
    a0 = [1; 0; 0; 0];
    in = setBlockParameter(in, blk, 'InitialCondition', mat2str(a0));
end

Here is more information on "mat2str" :

https://WWW.mathworks.com/help/matlab/ref/mat2str.html?s_tid=srchtitle_support_results_1_MAT2STR

Hope this helps!