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--- |
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task_categories: |
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- reinforcement-learning |
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- robotics |
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--- |
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This dataset contains sequences of actions, motor angles and pendulum angles as well as velocities for a [rotary inverted pendulum robot](https://github.com/armandpl/furuta). The dataset was collected while training the robot to swing up and balance ([wandb run](https://wandb.ai/armandpl/furuta2/runs/bc2yhhpg)). |
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Angles are in radian. Velocities were computed from the angles and fed to the policy. Control frequency is 75Hz. |
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The action maps to the motor voltage with: |
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```Python |
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deadzone = 0.1 |
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center = 0.05 |
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max_act = 0.9 |
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if abs(action) > center: |
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V = np.sign(action) * ( |
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np.abs(action) * (self.max_act - self.deadzone) + self.deadzone |
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) * 12 |
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else: |
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V = 0.0 |
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``` |
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You can open the files using foxglove studio or with the [mcap library](https://mcap.dev/). |
