How to make it finite?

I want to know the way to fix the erorr.

The error masage said that make the value finite.

There are four input state variables.

How can I fix it?

function set.State(this,state)
            validateattributes(state,{'numeric'},{'finite','real','vector','numel',4},'','State');
            this.State = double(state(:));
            notifyEnvUpdated(this);
        end

[Gargi Patil]

Hi! Can you share the code for state as it is difficult to determine the cause of the error without knowing its values? You can use the function isfinite to find out which value(s) in state is(are) not finite and fix it accordingly.

[ryunosuke tazawa]

Below is the code.

% pendulum throwing ball to target point.
classdef MyEnvironment < rl.env.MATLABEnvironment
    
    properties 
        
        m = 1.0;      % mass of pendulum
        L = 1.0;      % length of pendulum
        g = 9.8;      % gravity
        b = 0.01;     % Coefficient of friction
        
        MaxForce = 75; % Troque
        Ts = 0.04;     % time step
        Target = 2.5;  % target point
        
        RewardForNotFalling = 0;   % negative reward
        RewardForStrike = 10;       % positive reward
        PenaltyForFalling = -10;    % punishment
        State = [0 0 0 0]';          % ovservation  angular, angular velocity, ball's distance, troque
        
    end
    
    properties(Access = protected)
        IsDone = false
    end
    
    methods
        function this = MyEnvironment()
            
            ObservationInfo = rlNumericSpec([4 1]);
            ObservationInfo.Name = 'States';
            ObservationInfo.Description = 'theta,w,ball_gosa,u'; 
            
            ActionInfo = rlNumericSpec([1 1],'LowerLimit',30,'UpperLimit',75);
            ActionInfo.Name = 'Action';
            ObservationInfo.Description = 'F';
            
            this = [e-mail](ObservationInfo,ActionInfo);
            updateActionInfo(this);
        end
        
       
        
        function [Observation,Reward,IsDone,LoggedSignals] = step(this,Action)
            
            LoggedSignals = [];
            
            Force = getForce(this,Action);
            
            theta = this.State(1);
            w = this.State(2);
            
            

            IsDone = false;
            
            R = 0;
            
            
            % pendulum dynamics by eulur method
            
            
            
            q2 =  w - (this.g/this.L) *theta*this.Ts- this.b * this.Ts-Force*this.Ts;
            q1 = theta + w * this.Ts;
            
            % ball dynamics
            ball_x = this.L * sin(q1);
            ball_y = -this.L * cos(q1);
            ball_time = sqrt(2*abs(ball_y)/9.8);     
            ball_reach = ball_x +abs(q2).*ball_time;
          
            ball_gosa = ball_reach-this.Target;
            q3 = ball_gosa;
            
           
            % condition of reward
            if  0 < q3 && q3 < 0.5
                IsDone = true;
                R = this.RewardForStrike;
                
            else
                
                R = this.RewardForNotFalling;
            end
           
            
            Observation = [q1 q2 q3 Force]';              
            
            this.State = Observation;
            
            this.IsDone = IsDone;
            
            Reward = getReward(this,R);
            
            notifyEnvUpdated(this);
            
        end
        
        
        function InitialObservation = reset(this)
            theta0 = 0;
            w0 = 0;
            ball_gosa0 = 0;
            u0 = 0;
           
            InitialObservation = [theta0 w0 ball_gosa0 u0]';
            this.State = InitialObservation;
            
            notifyEnvUpdated(this);
        end
        
            
    end
    
    methods 
        
        function force = getForce(~,action)
            
            force = action;
        end
        
        function updateActionInfo(this)
            
            this.ActionInfo= this.ActionInfo;
          
        end
        % Reward function
        function Reward = getReward(this,R)
            
            if this.IsDone==1
                
                Reward = R + this.RewardForStrike;
                
            else
                
                Reward = R + this.PenaltyForFalling;
            end
        end
        
       function set.State(this,state)
            validateattributes(state,{'numeric'},{'finite','real','vector','numel',4},'','State');
            this.State = double(state(:));
            notifyEnvUpdated(this);
        end
        
        function set.MaxForce(this,val)
            validateattributes(val,{'numeric'},{'finite','real','positive','scalar'},'','MaxForce');
            this.MaxForce = val;
        end
        
        function set.Ts(this,val)
            validateattributes(val,{'numeric'},{'finite','real','positive','scalar'},'','Ts');
            this.Ts = val;
        end
        
        function set.RewardForNotFalling(this,val)
            validateattributes(val,{'numeric'},{'real','finite','scalar'},'','RewardForNotFalling');
            this.RewardForNotFalling = val;
        end
        function set.PenaltyForFalling(this,val)
            validateattributes(val,{'numeric'},{'real','finite','scalar'},'','PenaltyForFalling');
            this.PenaltyForFalling = val;
        end
        function set.RewardForStrike(this,val)
            validateattributes(val,{'numeric'},{'real','finite','scalar'},'','RewardForStrike');
            this.RewardForStrike = val;
        end
        
        function set.L(this,val)
            validateattributes(val,{'numeric'},{'finite','real','positive','scalar'},'','L');
            this.L = val;
        end
        
        function set.m(this,val)
            validateattributes(val,{'numeric'},{'finite','real','positive','scalar'},'','m');
            this.m = val;
        end
    end
        methods (Access = protected)
        % (optional) update visualization everytime the environment is updated 
        % (notifyEnvUpdated is called)
        function envUpdatedCallback(this)
            plot(this.State)
            hold on
            XLimMode = 'auto';
            YLimMode = 'auto'; 
            
        end
        end
        
        
        
end
    

[Gargi Patil]

Hi! Can you kindly share the workflow or the parameter values that throw this error?

[ryunosuke tazawa]

Sorry for the late reply. This error has been fixed. However, the result of learning is not good.

[Gargi Patil]

Hi, a new question can be created for further queries about the results of the learning.