Create README.md

README.md

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+---
+task_categories:
+- reinforcement-learning
+- robotics
+---
+This dataset contains sequences of actions, motor angles and pendulum angles for a [rotary inverted pendulum robot](https://github.com/armandpl/furuta). I collected it while training it to swing up and balance ([wandb run](https://wandb.ai/armandpl/furuta2/runs/bc2yhhpg)).     
+Angles are in radian. 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/).