/Throwing-trajectories-dataset

Dataset used in the article 'Learning in latent space'

Primary LanguageMATLAB

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)
    • [:,1] are times ,
    • [:,2:4] are joint positions ,
    • [:,5:7] are joint velocities ,
    • [:,8:10] are joint accelerations ,
  • .targets (matrix of throwing targets)
    • targets[:,1] are target positions ,
    • targets[:,2] are target positions ,
    • targets[:,3] are hit angles ,
  • .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 .