When recording data using L2 button, generated data does not contain "tau_est"

[Robokan]

I trained and deployed my own policy. Then used L2 button to start and then stop recording data. Then tried to train an actuator net with the data but it doesn't contain any "tau_est" values so it fails on line 166:

if "tau_est" not in datas[0].keys(): return

How do I get it to record the "tau_est"?

fyi: I managed to get my motion captured gaits working on the physical robot and they look great just a bit shaky. It would be great to get this actuator net working to see how good they get. Thank you for all your help.

[gmargo11]

Hi @Robokan ,

The entries in the infos dictionary here will be logged: https://github.com/Improbable-AI/walk-these-ways/blob/master/go1_gym_deploy/envs/lcm_agent.py#L282

The latest value of tau_est is maintained as an attribute of the StateEstimator: https://github.com/Improbable-AI/walk-these-ways/blob/master/go1_gym_deploy/utils/cheetah_state_estimator.py#L270

So, adding the following after line 297 of lcm_agent.py should work:

"tau_est": self.se.tau_est,

-Gabe

[Robokan]

Yep, that works. Thanks.

[Robokan]

How much data do a I need to record? I ran my robot though all of its movements and then trained the network yet it was unable to match it's the torques.

[Robokan]

I think I figured it out. I needed to record for longer and I also have a strange vibration that only appears when I have transferred the controller to the robot. I think if I can figure out the vibration this will train better.