When recording data using L2 button, generated data does not contain "tau_est" about walk-these-ways

[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.