====== High-Precision Gimbal Experimental Dataset ======

This dataset was published in:
//To be added upon publication//


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===== Overview =====

This dataset was created as to evaluate a custom high-precision pointing mechanism for the utilization in a future long-range obstacle detection system. The experimental system consisted of a laser pointer mounted to the gimbal, pointing at a far away plane. As the mechanism moved to new target positions, these were recorded manually on the measuring plane. 

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===== Dataset general characteristics =====

Sensors and actuators:
  * **Distance laser**: Leica Disto D8
  * **Pointing laser**: Picotronic DA650-1-5(11X60)
  * **Motor package**: Dynamixel XL430-W250 ([[https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/|Documentation]])

Provided files:
  * **measured.csv**: Manual target position recordings
  * **command.csv**: Commanded motor encoder position
  * **feedback.csv**: Recorded motor state (position, velocity, current)

Motor feedback data description:

^  ^Time ^Position  ^Velocity ^Load   ^
| Type        |number    |tuple|tuple|tuple|
| Content  | timestamp    | position x & y | velocity x & y              |load x & y              |
| Unit           | seconds     | encoder steps| 0.229 [rev/min]              |0.1 [%]              |

Motor command data description:

^  ^ Time ^ Position  ^ID ^
| Type        | number    | tuple                          | number| 
| Content  | timestamp    | position x & y | position ID              |
| Unit           | seconds     | encoder steps|              |

Manual recording data description:

^  ^ ID ^ Position x  ^ Position y ^
| Type        | number    | number                          | number| 
| Content  | position ID    | position x | position y              |
| Unit           |     | 2.5[cm]| 2.5[cm] |

===== Download =====
The dataset can be downloaded [[http://robotics.ethz.ch/~asl-datasets/2022_high_precision_gimbal/|here]].

===== Permissions =====
You are hereby given permission to copy this data in electronic or hard-copy form for your own scientific use and to distribute it for use to colleagues within your research group. Inclusion of rendered images or video made from this data in a scholarly publication (printed or electronic) is also permitted.

===== Contact =====
For more information, don't hesitate to contact [[cornelius.voneinem@mavt.ethz.ch|Cornelius von Einem]]