metadata
task_categories:
- reinforcement-learning
- robotics
This dataset contains sequences of actions, motor angles and pendulum angles for a rotary inverted pendulum robot. I collected it while training it to swing up and balance (wandb run).
Angles are in radian. The action maps to the motor voltage with:
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.