---
task_categories:
- reinforcement-learning
- robotics
---
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)).     
Angles are in radian. Velocities were computed from the angles and fed to the policy. Control frequency is 75Hz.  
The action maps to the motor voltage with:
```Python
  deadzone = 0.1
  center = 0.05
  max_act = 0.9
  if abs(action) > center:
    V = np.sign(action) * (
        np.abs(action) * (self.max_act - self.deadzone) + self.deadzone
    ) * 12
  else:
    V = 0.0
```
You can open the files using foxglove studio or with the [mcap library](https://mcap.dev/).