Throwing-trajectories-dataset
Dataset used in the article 'Robot Skill Learning in Latent Space of a Deep Autoencoder Neural Network'
Dataset
Throwing_trajectories.mat contains data structure:
robot_throws
- .robot_data (kinematical data for simulation - see Appendix D)
- .L are lenghts of links,
- .base is robot base position,
- .dt is time step of generated trajectories,
- .qPath{:} (array of 9824 throwing trajectories, each organized in a matrix with 10 columns)
- .targets (matrix of throwing targets)
- .DMP{:} (array of 9824 dynamic movement primitives (DMPs) describing the throwing trajectories)
- .N is number of radial basis functions,
- .dt is time step of DMP integration,
- .a_z is constant
,
- .a_x is constant
,
- .c are center positions of radial basis functions,
- .sigma_2 are squared variances of radial basis functions
,
- .w is weight matrix
,
- .tau is time constant
,
- .goal is
,
- .y0 is starting point
.
Matlab support code for dataset
kinematicsJacobian.m - calculates the end-effector position and the Jacobian matrix from the robot data in 'robot_throws.robot_data' and the selected joint position .