How is recorder_manager used?

[H-Hisamichi]

Hello All,

Where should the new recorder_manager feature be coded in the RL code?
Define as a new class in MyRL_env_cfg.py?

Thank you!

[H-Hisamichi]

Dear All,

Coding the following code in MyRL_env_cfg.py worked. If there are any mistakes, please point them out.
my code:

@configclass
class RecordersCfg(RecorderManagerBaseCfg):
    """Recorders terms for the MDP."""
    dataset_export_dir_path="/home/robot/IsaacLab_v1.4.0/IsaacLab/logs/recorder_test_logs"
    post_step_states = mdp.PostStepStatesRecorderCfg()

Also, this code recorded joint position, joint velocity, root pose, and root velocity. Can I record additional joint torque?

Thank you!

[H-Hisamichi]

I created a new Recorder term to implement this feature.

class PostStepStatesANDJointTorquesRecorder(RecorderTerm):
    """Recorder term for state and joint torques."""
    def record_post_step(self, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")):
        states = self._env.scene.get_state(is_relative=True)
        asset: Articulation = self._env.scene[asset_cfg.name]
        joint_torques = asset.data.applied_torque[:, asset_cfg.joint_ids]
        states['articulation']['robot']['joint_torques'] = joint_torques
        return "states", states

Thanks for watching!

[Kt981]

Hi, this script can replace the recorder manager?

[H-Hisamichi]

Hi @Kt981,

This script alone does not work, but it can extend the recorder functionality when added as a Recorder Manager MDP.