running training using my own robot and polynomial coefficients

[Storm3333]

Hi,

Thanks for the good on walking the ducks. I encountered an issue while trying to train policy using this repo for my own robot and motion reference generated by the motion generator repo by placo .

I have the following error :
Traceback (most recent call last): File "/home/sabean/Desktop/Open_Duck_Playground/playground/tangbar/runner.py", line 65, in <module> main() File "/home/sabean/Desktop/Open_Duck_Playground/playground/tangbar/runner.py", line 59, in main runner = TangbarRunner(args) ^^^^^^^^^^^^^^^^^^^ File "/home/sabean/Desktop/Open_Duck_Playground/playground/tangbar/runner.py", line 24, in __init__ self.env = self.env_file[1](task=args.task) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/sabean/Desktop/Open_Duck_Playground/playground/tangbar/joystick.py", line 120, in __init__ self._post_init() File "/home/sabean/Desktop/Open_Duck_Playground/playground/tangbar/joystick.py", line 130, in _post_init self.PRM = PolyReferenceMotion( ^^^^^^^^^^^^^^^^^^^^ File "/home/sabean/Desktop/Open_Duck_Playground/playground/common/poly_reference_motion.py", line 72, in __init__ self.process(data) File "/home/sabean/Desktop/Open_Duck_Playground/playground/common/poly_reference_motion.py", line 154, in process self.data_array[x][y][th] = jp.array(_data[dx][dy][dtheta]) ~~~~~~~~~^^^^ KeyError: -0.109071 while -0.1.09071 is the lower boundary point for the self.dy_range in the process function for PolyReferenceMotion class. Could you shed some light on how to handle this ?
Also could you explain the following part of the process function
` if dtheta not in _data[dx][dy]:
print(f"dtheta : {dtheta}")
_data[dx][dy][dtheta] = data[name]

        _coeffs = data[name]["coefficients"]
        print(f"_coeffs : {_coeffs}")
        coeffs = []
        for k, v in _coeffs.items():
            coeffs.append(jp.flip(jp.array(v)))
        
        _data[dx][dy][dtheta] = coeffs`

Why is _data[dx][dy][dtheta] being assigned value twice in a row? Thanks

[apirrone]

Hi ! Did you generate your .pkl with the --sweep parameter in the motion generator repo ?

About _data I don't remember exactly, it may have to do with jax stuff but I'm not certain :)

[Storm3333]

Hi. Thanks for the quick response.
No, I did not generate the pickle file withe --sweep argument. I assigned all parameter in the medium json file like open_duck_mini_V2.

It's just a bit perplexing that a boundary point is not included in the dictionary keys and I got a Key error.