cpezzato / discrete_active_inference Goto Github PK

In the file active_inferece_server.py in scripts,
shouldn't line 301 be changed from:
if action_to_perform == 4 and action_to_perform == self.old_selected_action and goal.parameters == self.old_goal_parameters:
to:
if action_to_perform == self.old_selected_action and goal.parameters == self.old_goal_parameters:

This because you do not want to send repeated goals for all other actions as well.
If not, it can interfere with motion planning.

Also the idle action which may be repeated is singled out in the line 298
if action_to_perform > 0: