armandpl/real_cartpole_200k

This dataset contains sequences of actions, motor angles and pendulum angles as well as velocities for a rotary inverted pendulum robot. The dataset was collected while training the robot to swing up and balance (wandb run).
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:

  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.