Datasets:

devorah-ai-2016
/

microduck-locomotion-dataset-v1

episode int64	step int64	time_sec float64	duck_id int64	pos_x_m float64	pos_y_m float64	pos_z_m float64	trunk_pitch_deg float64	forward_vel_m_s float64	heading_deg float64	q_left_hip_roll_rad float64	q_left_hip_pitch_rad float64	q_left_knee_rad float64	q_left_ankle_rad float64	q_neck_pitch_rad float64	q_head_pitch_rad float64	q_right_hip_roll_rad float64	q_right_hip_pitch_rad float64	q_right_knee_rad float64	q_right_ankle_rad float64	tau_left_hip_pitch_nm float64	tau_left_ankle_nm float64	tau_right_hip_pitch_nm float64	tau_right_ankle_nm float64	left_contact int64	left_grf_fx_n float64	left_grf_fz_n float64	left_slip_vel_m_s float64	right_contact int64	right_grf_fx_n float64	right_grf_fz_n float64	right_slip_vel_m_s float64
1	0	0	1	0.2036	0.8163	0.1114	-3	0.413	7.03	-0.0873	-0.6578	-0.0049	0.6347	0.3491	0.3491	0.0873	0.8667	0.7771	-0.8164	0.5905	0.3816	0	0	1	1.953	10.234	-0.00013	0	0	0	0.37534
1	1	0.02	1	0.2118	0.8173	0.1114	-3	0.413	7.03	-0.0873	-0.6006	-0.0049	0.5811	0.3491	0.3491	0.0873	0.768	0.6062	-0.7267	0.4731	0.3057	0	0	1	1.565	9.858	0.0001	0	0	0	0.30072
1	2	0.04	1	0.22	0.8183	0.1114	-3	0.413	7.03	-0.0873	-0.5441	-0.0049	0.5298	0.3491	0.3491	0.0873	0.6525	0.3881	-0.6241	0.3063	0.1979	0	0	1	1.013	9.323	-0.001	0	0	0	0.19471
1	3	0.06	1	0.2282	0.8193	0.1114	-3	0.413	7.03	-0.0873	-0.4769	-0.0049	0.4687	0.3491	0.3491	0.0873	0.5149	0.1281	-0.5018	0.1076	0.0695	0	0	1	0.356	8.685	0.0005	0	0	0	0.06839
1	4	0.08	1	0.2364	0.8203	0.1114	-3	0.413	7.03	-0.0873	-0.5462	-0.1388	0.5335	0.3491	0.3491	0.0873	0.4751	-0.0126	-0.4671	0	0	0.1024	0.0662	0	0	0	0.06508	1	0.339	8.668	-0.00006
1	5	0.1	1	0.2446	0.8213	0.1114	-3	0.413	7.03	-0.0873	-0.6842	-0.3994	0.6561	0.3491	0.3491	0.0873	0.5775	-0.0126	-0.5633	0	0	0.3017	0.1949	0	0	0	0.19175	1	0.998	9.308	-0.00021
1	6	0.12	1	0.2528	0.8223	0.1114	-3	0.413	7.03	-0.0873	-0.8004	-0.6189	0.7594	0.3491	0.3491	0.0873	0.6343	-0.0126	-0.6149	0	0	0.4695	0.3034	0	0	0	0.29841	1	1.553	9.846	-0.00067
1	7	0.14	1	0.261	0.8234	0.1114	-3	0.413	7.03	-0.0873	-0.8826	-0.7742	0.8325	0.3491	0.3491	0.0873	0.6745	-0.0126	-0.6515	0	0	0.5883	0.3801	0	0	0	0.37393	1	1.946	10.227	-0.00015
1	8	0.16	1	0.2692	0.8244	0.1114	-3	0.413	7.03	-0.0873	-0.9224	-0.8493	0.8678	0.3491	0.3491	0.0873	0.6939	-0.0126	-0.6691	0	0	0.6457	0.4172	0	0	0	0.41042	1	2.136	10.411	0.00071
1	9	0.18	1	0.2774	0.8254	0.1114	-3	0.413	7.03	-0.0873	-0.8806	-0.8188	0.8268	0.3491	0.3491	0.0873	0.6556	-0.0126	-0.6312	0	0	0.6358	0.4108	0	0	0	0.40408	1	2.103	10.379	0.00067
1	10	0.2	1	0.2856	0.8264	0.1114	-3	0.413	7.03	-0.0873	-0.8277	-0.719	0.7798	0.3491	0.3491	0.0873	0.6298	-0.0126	-0.6077	0	0	0.5594	0.3615	0	0	0	0.35557	1	1.85	10.134	0.00005
1	11	0.22	1	0.2938	0.8274	0.1114	-3	0.413	7.03	-0.0873	-0.7345	-0.5428	0.6969	0.3491	0.3491	0.0873	0.5842	-0.0126	-0.5662	0	0	0.4247	0.2744	0	0	0	0.26995	1	1.405	9.702	0.0006
1	12	0.24	1	0.302	0.8284	0.1114	-3	0.413	7.03	-0.0873	-0.6105	-0.3087	0.5867	0.3491	0.3491	0.0873	0.5236	-0.0126	-0.5111	0	0	0.2457	0.1587	0	0	0	0.15615	1	0.813	9.128	0.00035
1	13	0.26	1	0.3102	0.8294	0.1114	-3	0.413	7.03	-0.0873	-0.4688	-0.0411	0.4608	0.3491	0.3491	0.0873	0.4543	-0.0126	-0.4482	0	0	0.041	0.0265	0	0	0	0.02606	1	0.136	8.472	-0.00099
1	14	0.28	1	0.3184	0.8304	0.1114	-3	0.413	7.03	-0.0873	-0.5322	0.0126	0.5221	0.3491	0.3491	0.0873	0.5916	0.242	-0.5738	0.1679	0.1085	0	0	1	0.556	8.879	0.00049	0	0	0	0.10675
1	15	0.3	1	0.3266	0.8314	0.1114	-3	0.413	7.03	-0.0873	-0.597	0.0126	0.581	0.3491	0.3491	0.0873	0.7242	0.4923	-0.6916	0.3594	0.2322	0	0	1	1.189	9.493	0.00002	0	0	0	0.22842
1	16	0.32	1	0.3348	0.8325	0.1114	-3	0.413	7.03	-0.0873	-0.6491	0.0126	0.6284	0.3491	0.3491	0.0873	0.8307	0.6936	-0.7863	0.5133	0.3317	0	0	1	1.698	9.987	-0.00013	0	0	0	0.32625
1	17	0.34	1	0.343	0.8335	0.1114	-3	0.413	7.03	-0.0873	-0.683	0.0126	0.6593	0.3491	0.3491	0.0873	0.9002	0.8248	-0.8481	0.6136	0.3965	0	0	1	2.03	10.308	-0.00017	0	0	0	0.39003
1	18	0.36	1	0.3512	0.8345	0.1114	-3	0.413	7.03	-0.0873	-0.6953	0.0126	0.6704	0.3491	0.3491	0.0873	0.9253	0.8723	-0.8704	0.65	0.42	0	0	1	2.15	10.425	-0.00044	0	0	0	0.41311
1	19	0.38	1	0.3594	0.8355	0.1114	-3	0.413	7.03	-0.0873	-0.6498	0.0126	0.6258	0.3491	0.3491	0.0873	0.8686	0.7962	-0.8161	0.6184	0.3996	0	0	1	2.046	10.324	-0.00015	0	0	0	0.39307
1	20	0.4	1	0.3676	0.8365	0.1114	-3	0.413	7.03	-0.0873	-0.6172	0.0126	0.5963	0.3491	0.3491	0.0873	0.8021	0.6705	-0.757	0.5224	0.3375	0	0	1	1.728	10.016	0.00013	0	0	0	0.33201
1	21	0.42	1	0.3759	0.8375	0.1114	-3	0.413	7.03	-0.0873	-0.5663	0.0126	0.5499	0.3491	0.3491	0.0873	0.6978	0.4736	-0.6643	0.3718	0.2402	0	0	1	1.23	9.533	-0.00018	0	0	0	0.2363
1	22	0.44	1	0.3841	0.8385	0.1114	-3	0.413	7.03	-0.0873	-0.5022	0.0126	0.4917	0.3491	0.3491	0.0873	0.5667	0.226	-0.5478	0.1824	0.1179	0	0	1	0.603	8.925	-0.00009	0	0	0	0.11593
1	23	0.46	1	0.3923	0.8395	0.1114	-3	0.413	7.03	-0.0873	-0.4585	-0.0564	0.4516	0.3491	0.3491	0.0873	0.4493	-0.0126	-0.4436	0	0	0.026	0.0168	0	0	0	0.01654	1	0.086	8.423	0.00036
1	24	0.48	1	0.4005	0.8405	0.1114	-3	0.413	7.03	-0.0873	-0.6358	-0.3254	0.6131	0.3491	0.3491	0.0873	0.5538	-0.0126	-0.5418	0	0	0.2317	0.1497	0	0	0	0.14728	1	0.766	9.083	0.00037
1	25	0.5	1	0.4087	0.8416	0.1114	-3	0.413	7.03	-0.0873	-0.7614	-0.5627	0.7248	0.3491	0.3491	0.0873	0.6152	-0.0126	-0.5976	0	0	0.4132	0.267	0	0	0	0.26265	1	1.367	9.666	0.00013
1	26	0.52	1	0.4169	0.8426	0.1114	-3	0.413	7.03	-0.0873	-0.8573	-0.7437	0.8099	0.3491	0.3491	0.0873	0.6621	-0.0126	-0.6402	0	0	0.5516	0.3564	0	0	0	0.35062	1	1.825	10.109	0.00047
1	27	0.54	1	0.4251	0.8436	0.1114	-3	0.413	7.03	-0.0873	-0.9132	-0.8494	0.8597	0.3491	0.3491	0.0873	0.6894	-0.0126	-0.6651	0	0	0.6325	0.4087	0	0	0	0.40199	1	2.092	10.369	-0.00022
1	28	0.56	1	0.4333	0.8446	0.1114	-3	0.413	7.03	-0.0873	-0.9235	-0.8688	0.8688	0.3491	0.3491	0.0873	0.6944	-0.0126	-0.6696	0	0	0.6473	0.4182	0	0	0	0.4114	1	2.141	10.416	0.00051
1	29	0.58	1	0.4415	0.8456	0.1114	-3	0.413	7.03	-0.0873	-0.852	-0.7649	0.8014	0.3491	0.3491	0.0873	0.6417	-0.0126	-0.6185	0	0	0.5945	0.3842	0	0	0	0.37788	1	1.967	10.247	0.00044
1	30	0.6	1	0.4497	0.8466	0.1114	-3	0.413	7.03	-0.0873	-0.7726	-0.6148	0.7308	0.3491	0.3491	0.0873	0.6028	-0.0126	-0.5832	0	0	0.4798	0.31	0	0	0	0.30493	1	1.587	9.879	-0.00056
1	31	0.62	1	0.4579	0.8476	0.1114	-3	0.413	7.03	-0.0873	-0.6585	-0.3992	0.6293	0.3491	0.3491	0.0873	0.547	-0.0126	-0.5324	0	0	0.3149	0.2035	0	0	0	0.20015	1	1.042	9.35	0.00039
1	32	0.64	1	0.4661	0.8486	0.1114	-3	0.413	7.03	-0.0873	-0.5216	-0.1407	0.5077	0.3491	0.3491	0.0873	0.4801	-0.0126	-0.4716	0	0	0.1172	0.0757	0	0	0	0.07448	1	0.388	8.716	0.00051
1	33	0.66	1	0.4743	0.8496	0.1114	-3	0.413	7.03	-0.0873	-0.4718	0.0126	0.4641	0.3491	0.3491	0.0873	0.5396	0.1437	-0.5275	0.0928	0.0599	0	0	1	0.307	8.638	-0.00023	0	0	0	0.05896
1	34	0.68	1	0.4825	0.8507	0.1114	-3	0.413	7.03	-0.0873	-0.5745	0.0126	0.5606	0.3491	0.3491	0.0873	0.6782	0.4056	-0.6508	0.293	0.1893	0	0	1	0.969	9.28	-0.00005	0	0	0	0.18625
1	35	0.7	1	0.4907	0.8517	0.1114	-3	0.413	7.03	-0.0873	-0.632	0.0126	0.6128	0.3491	0.3491	0.0873	0.7957	0.6274	-0.7552	0.4627	0.299	0	0	1	1.531	9.824	-0.0009	0	0	0	0.2941
1	36	0.72	1	0.4989	0.8527	0.1114	-3	0.413	7.03	-0.0873	-0.6731	0.0126	0.6502	0.3491	0.3491	0.0873	0.8797	0.7862	-0.8299	0.5841	0.3774	0	0	1	1.932	10.214	-0.0003	0	0	0	0.37126
1	37	0.74	1	0.5071	0.8537	0.1114	-3	0.413	7.03	-0.0873	-0.6935	0.0126	0.6688	0.3491	0.3491	0.0873	0.9216	0.8652	-0.8671	0.6445	0.4165	0	0	1	2.132	10.407	-0.00042	0	0	0	0.40967
1	38	0.76	1	0.5153	0.8547	0.1114	-3	0.413	7.03	-0.0873	-0.6563	0.0126	0.6318	0.3491	0.3491	0.0873	0.8819	0.8214	-0.828	0.6377	0.4121	0	0	1	2.109	10.386	-0.00012	0	0	0	0.40532
1	39	0.78	1	0.5235	0.8557	0.1114	-3	0.413	7.03	-0.0873	-0.6314	0.0126	0.6092	0.3491	0.3491	0.0873	0.8311	0.7254	-0.7828	0.5643	0.3646	0	0	1	1.867	10.15	0.00065	0	0	0	0.35868
1	40	0.8	1	0.5317	0.8567	0.1114	-3	0.413	7.03	-0.0873	-0.5867	0.0126	0.5685	0.3491	0.3491	0.0873	0.7395	0.5524	-0.7014	0.432	0.2792	0	0	1	1.429	9.726	-0.00067	0	0	0	0.2746
1	41	0.82	1	0.5399	0.8577	0.1114	-3	0.413	7.03	-0.0873	-0.5266	0.0126	0.5139	0.3491	0.3491	0.0873	0.6168	0.3205	-0.5923	0.2547	0.1646	0	0	1	0.842	9.157	-0.00013	0	0	0	0.16186
1	42	0.84	1	0.5481	0.8588	0.1114	-3	0.413	7.03	-0.0873	-0.4576	0.0126	0.4512	0.3491	0.3491	0.0873	0.4756	0.0538	-0.4668	0.0507	0.0328	0	0	1	0.168	8.503	-0.00032	0	0	0	0.03223
1	43	0.86	1	0.5563	0.8598	0.1114	-3	0.413	7.03	-0.0873	-0.5851	-0.2297	0.568	0.3491	0.3491	0.0873	0.529	-0.0126	-0.5192	0	0	0.1585	0.1024	0	0	0	0.10076	1	0.524	8.849	-0.00038
1	44	0.88	1	0.5645	0.8608	0.1114	-3	0.413	7.03	-0.0873	-0.7185	-0.4816	0.6866	0.3491	0.3491	0.0873	0.5942	-0.0126	-0.5785	0	0	0.3512	0.2269	0	0	0	0.22324	1	1.162	9.467	0.00043
1	45	0.9	1	0.5727	0.8618	0.1114	-3	0.413	7.03	-0.0873	-0.8265	-0.6857	0.7826	0.3491	0.3491	0.0873	0.647	-0.0126	-0.6265	0	0	0.5073	0.3278	0	0	0	0.32242	1	1.678	9.967	0.00018
1	46	0.92	1	0.5809	0.8628	0.1114	-3	0.413	7.03	-0.0873	-0.8979	-0.8205	0.8461	0.3491	0.3491	0.0873	0.6819	-0.0126	-0.6583	0	0	0.6104	0.3944	0	0	0	0.38795	1	2.019	10.298	0.00003
1	47	0.94	1	0.5891	0.8638	0.1114	-3	0.413	7.03	-0.0873	-0.9252	-0.8721	0.8703	0.3491	0.3491	0.0873	0.6953	-0.0126	-0.6704	0	0	0.6498	0.4199	0	0	0	0.41299	1	2.149	10.424	0.00053
1	48	0.96	1	0.5973	0.8648	0.1114	-3	0.413	7.03	-0.0873	-0.8706	-0.8	0.8179	0.3491	0.3491	0.0873	0.6508	-0.0126	-0.6267	0	0	0.6214	0.4015	0	0	0	0.39493	1	2.055	10.333	0.00058
1	49	0.98	1	0.6055	0.8658	0.1114	-3	0.413	7.03	-0.0873	-0.8061	-0.678	0.7605	0.3491	0.3491	0.0873	0.6192	-0.0126	-0.598	0	0	0.5281	0.3412	0	0	0	0.33566	1	1.747	10.034	0.00042
1	0	0	2	0.0185	-0.4276	0.1114	-3	0.41	50.72	-0.0873	-0.4512	-0.0077	0.4451	0.3491	0.3491	0.0873	0.4457	-0.0126	-0.4403	0	0	0.0155	0.01	0	0	0	0.00975	1	0.051	8.39	-0.00014
1	1	0.02	2	0.0237	-0.4213	0.1114	-3	0.41	50.72	-0.0873	-0.6278	-0.3103	0.606	0.3491	0.3491	0.0873	0.5499	-0.0126	-0.5382	0	0	0.2202	0.1423	0	0	0	0.13881	1	0.728	9.046	-0.00008
1	2	0.04	2	0.0289	-0.4149	0.1114	-3	0.41	50.72	-0.0873	-0.7539	-0.5485	0.718	0.3491	0.3491	0.0873	0.6115	-0.0126	-0.5942	0	0	0.4023	0.26	0	0	0	0.25361	1	1.331	9.631	0.0002
1	3	0.06	2	0.0341	-0.4086	0.1114	-3	0.41	50.72	-0.0873	-0.8514	-0.7326	0.8047	0.3491	0.3491	0.0873	0.6592	-0.0126	-0.6376	0	0	0.5431	0.351	0	0	0	0.34238	1	1.797	10.082	-0.00029
1	4	0.08	2	0.0393	-0.4022	0.1114	-3	0.41	50.72	-0.0873	-0.9103	-0.8438	0.857	0.3491	0.3491	0.0873	0.688	-0.0126	-0.6637	0	0	0.6282	0.4059	0	0	0	0.39599	1	2.078	10.355	-0.00003
1	5	0.1	2	0.0445	-0.3959	0.1114	-3	0.41	50.72	-0.0873	-0.9245	-0.8707	0.8697	0.3491	0.3491	0.0873	0.6949	-0.0126	-0.6701	0	0	0.6487	0.4192	0	0	0	0.40895	1	2.146	10.421	-0.00062
1	6	0.12	2	0.0497	-0.3896	0.1114	-3	0.41	50.72	-0.0873	-0.8577	-0.7756	0.8064	0.3491	0.3491	0.0873	0.6444	-0.0126	-0.621	0	0	0.6027	0.3894	0	0	0	0.37992	1	1.994	10.273	-0.00033
1	7	0.14	2	0.0548	-0.3832	0.1114	-3	0.41	50.72	-0.0873	-0.783	-0.6345	0.74	0.3491	0.3491	0.0873	0.6079	-0.0126	-0.5878	0	0	0.4948	0.3197	0	0	0	0.31189	1	1.637	9.927	0.00018
1	8	0.16	2	0.06	-0.3769	0.1114	-3	0.41	50.72	-0.0873	-0.6731	-0.4269	0.6423	0.3491	0.3491	0.0873	0.5542	-0.0126	-0.5389	0	0	0.336	0.2171	0	0	0	0.21183	1	1.112	9.418	-0.00009
1	9	0.18	2	0.0652	-0.3705	0.1114	-3	0.41	50.72	-0.0873	-0.5393	-0.1742	0.5234	0.3491	0.3491	0.0873	0.4888	-0.0126	-0.4795	0	0	0.1428	0.0923	0	0	0	0.09003	1	0.472	8.798	-0.00034
1	10	0.2	2	0.0704	-0.3642	0.1114	-3	0.41	50.72	-0.0873	-0.4625	0.0126	0.4556	0.3491	0.3491	0.0873	0.4855	0.1074	-0.4756	0.0651	0.042	0	0	1	0.215	8.549	0.00009	0	0	0	0.04102
1	11	0.22	2	0.0756	-0.3578	0.1114	-3	0.41	50.72	-0.0873	-0.5655	0.0126	0.5524	0.3491	0.3491	0.0873	0.6597	0.3706	-0.6343	0.2663	0.1721	0	0	1	0.881	9.194	-0.00047	0	0	0	0.16786
1	12	0.24	2	0.0808	-0.3515	0.1114	-3	0.41	50.72	-0.0873	-0.6243	0.0126	0.6059	0.3491	0.3491	0.0873	0.7801	0.5979	-0.7413	0.4402	0.2844	0	0	1	1.456	9.752	-0.00012	0	0	0	0.27746
1	13	0.26	2	0.086	-0.3452	0.1114	-3	0.41	50.72	-0.0873	-0.6679	0.0126	0.6455	0.3491	0.3491	0.0873	0.8692	0.7662	-0.8205	0.5688	0.3676	0	0	1	1.882	10.165	-0.00054	0	0	0	0.35857
1	14	0.28	2	0.0912	-0.3388	0.1114	-3	0.41	50.72	-0.0873	-0.6917	0.0126	0.6671	0.3491	0.3491	0.0873	0.9178	0.8581	-0.8638	0.6391	0.413	0	0	1	2.114	10.39	-0.00012	0	0	0	0.40287
1	15	0.3	2	0.0964	-0.3325	0.1114	-3	0.41	50.72	-0.0873	-0.6932	0.0126	0.6685	0.3491	0.3491	0.0873	0.921	0.8642	-0.8666	0.6438	0.416	0	0	1	2.129	10.405	-0.00069	0	0	0	0.40581
1	16	0.32	2	0.1015	-0.3261	0.1114	-3	0.41	50.72	-0.0873	-0.6375	0.0126	0.6147	0.3491	0.3491	0.0873	0.8436	0.749	-0.7939	0.5823	0.3763	0	0	1	1.926	10.208	0.00009	0	0	0	0.36709
1	17	0.34	2	0.1067	-0.3198	0.1114	-3	0.41	50.72	-0.0873	-0.5965	0.0126	0.5774	0.3491	0.3491	0.0873	0.7597	0.5904	-0.7193	0.4611	0.298	0	0	1	1.525	9.819	0.00029	0	0	0	0.29067
1	18	0.36	2	0.1119	-0.3134	0.1114	-3	0.41	50.72	-0.0873	-0.5395	0.0126	0.5256	0.3491	0.3491	0.0873	0.643	0.37	-0.6156	0.2926	0.189	0	0	1	0.968	9.278	-0.00006	0	0	0	0.18441
1	19	0.38	2	0.1171	-0.3071	0.1114	-3	0.41	50.72	-0.0873	-0.4722	0.0126	0.4645	0.3491	0.3491	0.0873	0.5055	0.1103	-0.4934	0.094	0.0607	0	0	1	0.311	8.641	-0.0002	0	0	0	0.05922
1	20	0.4	2	0.1223	-0.3008	0.1114	-3	0.41	50.72	-0.0873	-0.5545	-0.1718	0.5408	0.3491	0.3491	0.0873	0.4791	-0.0126	-0.4707	0	0	0.1143	0.0739	0	0	0	0.07205	1	0.378	8.707	-0.00045
1	21	0.42	2	0.1275	-0.2944	0.1114	-3	0.41	50.72	-0.0873	-0.6905	-0.4288	0.6617	0.3491	0.3491	0.0873	0.5806	-0.0126	-0.5661	0	0	0.3108	0.2008	0	0	0	0.19592	1	1.028	9.337	-0.00102
1	22	0.44	2	0.1327	-0.2881	0.1114	-3	0.41	50.72	-0.0873	-0.8045	-0.644	0.763	0.3491	0.3491	0.0873	0.6363	-0.0126	-0.6167	0	0	0.4754	0.3072	0	0	0	0.29968	1	1.573	9.865	0.00058
1	23	0.46	2	0.1379	-0.2817	0.1114	-3	0.41	50.72	-0.0873	-0.8846	-0.7955	0.8343	0.3491	0.3491	0.0873	0.6755	-0.0126	-0.6524	0	0	0.5912	0.382	0	0	0	0.37267	1	1.956	10.236	0.0002
1	24	0.48	2	0.143	-0.2754	0.1114	-3	0.41	50.72	-0.0873	-0.9228	-0.8675	0.8682	0.3491	0.3491	0.0873	0.6941	-0.0126	-0.6693	0	0	0.6463	0.4176	0	0	0	0.4074	1	2.138	10.413	-0.0001
1	25	0.5	2	0.1482	-0.269	0.1114	-3	0.41	50.72	-0.0873	-0.8801	-0.8179	0.8263	0.3491	0.3491	0.0873	0.6554	-0.0126	-0.6309	0	0	0.635	0.4103	0	0	0	0.4003	1	2.1	10.377	0.00029
1	26	0.52	2	0.1534	-0.2627	0.1114	-3	0.41	50.72	-0.0873	-0.8272	-0.7179	0.7793	0.3491	0.3491	0.0873	0.6295	-0.0126	-0.6074	0	0	0.5586	0.3609	0	0	0	0.35211	1	1.848	10.132	0.00032
1	27	0.54	2	0.1586	-0.2564	0.1114	-3	0.41	50.72	-0.0873	-0.7345	-0.5429	0.6969	0.3491	0.3491	0.0873	0.5842	-0.0126	-0.5662	0	0	0.4248	0.2745	0	0	0	0.26776	1	1.405	9.703	0.00028
1	28	0.56	2	0.1638	-0.25	0.1114	-3	0.41	50.72	-0.0873	-0.6117	-0.3109	0.5878	0.3491	0.3491	0.0873	0.5242	-0.0126	-0.5117	0	0	0.2473	0.1598	0	0	0	0.15592	1	0.818	9.133	0.00017
1	29	0.58	2	0.169	-0.2437	0.1114	-3	0.41	50.72	-0.0873	-0.4713	-0.0457	0.463	0.3491	0.3491	0.0873	0.4555	-0.0126	-0.4492	0	0	0.0445	0.0288	0	0	0	0.02807	1	0.147	8.483	-0.00055
1	30	0.6	2	0.1742	-0.2373	0.1114	-3	0.41	50.72	-0.0873	-0.5305	0.0126	0.5206	0.3491	0.3491	0.0873	0.5881	0.2353	-0.5707	0.1629	0.1052	0	0	1	0.539	8.862	0.00013	0	0	0	0.10266
1	31	0.62	2	0.1794	-0.231	0.1114	-3	0.41	50.72	-0.0873	-0.595	0.0126	0.5792	0.3491	0.3491	0.0873	0.7201	0.4846	-0.688	0.3535	0.2284	0	0	1	1.169	9.474	-0.00031	0	0	0	0.22285
1	32	0.64	2	0.1846	-0.2246	0.1114	-3	0.41	50.72	-0.0873	-0.6473	0.0126	0.6267	0.3491	0.3491	0.0873	0.827	0.6865	-0.783	0.5079	0.3282	0	0	1	1.68	9.969	-0.00053	0	0	0	0.32016
1	33	0.66	2	0.1897	-0.2183	0.1114	-3	0.41	50.72	-0.0873	-0.6819	0.0126	0.6582	0.3491	0.3491	0.0873	0.8977	0.8202	-0.8459	0.6101	0.3942	0	0	1	2.018	10.297	0.0004	0	0	0	0.3846
1	34	0.68	2	0.1949	-0.212	0.1114	-3	0.41	50.72	-0.0873	-0.6953	0.0126	0.6704	0.3491	0.3491	0.0873	0.9251	0.872	-0.8703	0.6497	0.4198	0	0	1	2.149	10.424	0.00076	0	0	0	0.40955
1	35	0.7	2	0.2001	-0.2056	0.1114	-3	0.41	50.72	-0.0873	-0.6512	0.0126	0.6271	0.3491	0.3491	0.0873	0.8715	0.8016	-0.8187	0.6226	0.4023	0	0	1	2.059	10.337	0.00023	0	0	0	0.39245
1	36	0.72	2	0.2053	-0.1993	0.1114	-3	0.41	50.72	-0.0873	-0.6204	0.0126	0.5991	0.3491	0.3491	0.0873	0.8084	0.6825	-0.7627	0.5315	0.3435	0	0	1	1.758	10.045	-0.00058	0	0	0	0.33507
1	37	0.74	2	0.2105	-0.1929	0.1114	-3	0.41	50.72	-0.0873	-0.5711	0.0126	0.5543	0.3491	0.3491	0.0873	0.7076	0.4921	-0.673	0.3859	0.2494	0	0	1	1.277	9.578	-0.00037	0	0	0	0.24328
1	38	0.76	2	0.2157	-0.1866	0.1114	-3	0.41	50.72	-0.0873	-0.5084	0.0126	0.4973	0.3491	0.3491	0.0873	0.5794	0.2499	-0.5591	0.2007	0.1297	0	0	1	0.664	8.984	0.0001	0	0	0	0.12651
1	39	0.78	2	0.2209	-0.1802	0.1114	-3	0.41	50.72	-0.0873	-0.444	-0.0291	0.4387	0.3491	0.3491	0.0873	0.4422	-0.0126	-0.4371	0	0	0.0051	0.0033	0	0	0	0.00324	1	0.017	8.356	-0.00025
1	40	0.8	2	0.2261	-0.1739	0.1114	-3	0.41	50.72	-0.0873	-0.6211	-0.2976	0.6	0.3491	0.3491	0.0873	0.5466	-0.0126	-0.5352	0	0	0.2105	0.136	0	0	0	0.13266	1	0.696	9.015	0.00003
1	41	0.82	2	0.2313	-0.1676	0.1114	-3	0.41	50.72	-0.0873	-0.7482	-0.5378	0.713	0.3491	0.3491	0.0873	0.6088	-0.0126	-0.5917	0	0	0.3942	0.2547	0	0	0	0.24846	1	1.304	9.604	0
1	42	0.84	2	0.2364	-0.1612	0.1114	-3	0.41	50.72	-0.0873	-0.8474	-0.7251	0.8012	0.3491	0.3491	0.0873	0.6572	-0.0126	-0.6358	0	0	0.5374	0.3472	0	0	0	0.33876	1	1.778	10.064	0.00058
1	43	0.86	2	0.2416	-0.1549	0.1114	-3	0.41	50.72	-0.0873	-0.9084	-0.8403	0.8554	0.3491	0.3491	0.0873	0.687	-0.0126	-0.6629	0	0	0.6255	0.4041	0	0	0	0.39427	1	2.069	10.346	0.00031
1	44	0.88	2	0.2468	-0.1485	0.1114	-3	0.41	50.72	-0.0873	-0.9249	-0.8714	0.87	0.3491	0.3491	0.0873	0.6951	-0.0126	-0.6702	0	0	0.6493	0.4196	0	0	0	0.4093	1	2.148	10.423	0.00015
1	45	0.9	2	0.252	-0.1422	0.1114	-3	0.41	50.72	-0.0873	-0.8603	-0.7806	0.8088	0.3491	0.3491	0.0873	0.6457	-0.0126	-0.6222	0	0	0.6065	0.3919	0	0	0	0.38231	1	2.006	10.285	-0.00029
1	46	0.92	2	0.2572	-0.1358	0.1114	-3	0.41	50.72	-0.0873	-0.7876	-0.6431	0.7441	0.3491	0.3491	0.0873	0.6102	-0.0126	-0.5898	0	0	0.5014	0.324	0	0	0	0.31607	1	1.659	9.948	-0.00022
1	47	0.94	2	0.2624	-0.1295	0.1114	-3	0.41	50.72	-0.0873	-0.6792	-0.4384	0.6478	0.3491	0.3491	0.0873	0.5572	-0.0126	-0.5417	0	0	0.3448	0.2228	0	0	0	0.21738	1	1.141	9.446	0.00068
1	48	0.96	2	0.2676	-0.1232	0.1114	-3	0.41	50.72	-0.0873	-0.5463	-0.1874	0.5296	0.3491	0.3491	0.0873	0.4922	-0.0126	-0.4826	0	0	0.1529	0.0988	0	0	0	0.09637	1	0.506	8.83	0.00001
1	49	0.98	2	0.2728	-0.1168	0.1114	-3	0.41	50.72	-0.0873	-0.459	0.0126	0.4524	0.3491	0.3491	0.0873	0.4784	0.094	-0.4693	0.0548	0.0354	0	0	1	0.181	8.516	-0.00007	0	0	0	0.03454

End of preview. Expand in Data Studio

🦆 MicroDuck Locomotion Dataset V1.0: Zero-Slip Flat Ground Baseline

Publisher: devorah-ai-2026 / devorahai2026
License: Commercial / CC-BY-SA 4.0
Task: Bipedal Locomotion, Reinforcement Learning, Sim-to-Real
Hardware Platform: Antigravity 14-DOF MicroDuck Biped Robot

📌 Overview (개요)

본 데이터셋은 **14-DOF 소형 2족 보행 로봇(MicroDuck)**의 완벽한 평면 보행(Flat-ground walking) 궤적 및 제어 로그를 담은 고품질 합성 데이터(Synthetic Data)입니다. 기존 강화학습 기반 2족 보행 에이전트들이 흔히 겪는 발바닥 미끄러짐(Ice-Skating) 및 제자리걸음(Marching in place) 문제를 공학적으로 완벽히 극복한 최상급 베이스라인 모델입니다. 향후 복잡한 지형 환경이나 비전(Vision) 기반 조향 학습을 위한 통제된 대조군(Control Group)으로 활용하기에 최적화되어 있습니다.

🚀 Key Features (핵심 기술 사양)

Zero-Slip Planted Stance: 지면 접촉 상태($\text{contact} > 0.5$)에서 디딤발의 수평 속도가 **$0.000 \pm 0.002\text{ m/s}$**로 수렴하여 완벽한 지면 밀착 보행을 구현합니다.
Controlled Falling Momentum: 상체 피치(Trunk Pitch)를 **미세 전방 바이어스($-3.0^\circ$)**로 제어하여 중력에 의한 자연스러운 전진 모멘텀을 형성하고, 디딤발의 **강력한 후방 킥(Push-off) 추력($+0.22\text{ rad}$)**을 데이터에 담았습니다.
High Energy Efficiency: 지면 긁음(Ground Scraping)과 헛바퀴 토크 손실을 제거하여 실제 모터 이식 시 발열 및 배터리 소모를 대폭 절감할 수 있는 궤적입니다.
Swarm Tested: 10기의 다중 에이전트 환경에서 500회 연속 에피소드(250,000 프레임) 동안 엉킴이나 전복 없이 안정적으로 주행한 검증된 데이터입니다.

📊 Dataset Structure (데이터 구조)

데이터셋은 500회 연속 주행 테스트 벤치에서 추출된 타임스텝(50Hz, dt=0.02s)별 상태-행동(State-Action) 쌍으로 구성됩니다.

파일명	형식	설명
`data_part_01.csv` ~ `data_part_10.csv`	CSV	총 250,000 프레임 원시 제어 로그 (14관절각, 토크, GRF $F_x/F_z$, Slip 속도)
`v1.0_baseline_dataset_metadata.json`	JSON	데이터셋 공식 메타데이터 및 벤치마크 지표 스키마

🗺️ Roadmap & Future Updates (향후 업데이트 계획)

현재 V1.0은 가장 근간이 되는 **'기준 보행(Baseline Locomotion)'**을 제공합니다. 다음 업데이트를 통해 상용 로봇 제어의 전체 생태계를 제공할 예정입니다.

[Current] V1.0: Zero-Slip 평면 보행 군집 데이터.
[Upcoming] V2.0: 완전 자율 상태 기계(No-Button Autopilot FSM) 연동. 외부 외란 감지 시 자동 착석(Auto-Sit), 기립(Auto-Stand) 및 낙하 자가 복구(Auto-Recovery) 제어 데이터 탑재 예정.
[Upcoming] V3.0: 레이캐스트(Raycast) 비전 센서 통합. 전방 장애물 능동 인지, 조향 회피(Active Avoidance) 및 동적 균형 회복 데이터 추가.

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