Drone-Cable Dataset

Cartesian state dataset for quadrotor-cable identification (Lagrangian dynamics).

Structure

training/
  ID_0.csv … ID_9.csv    10 experiments, ~113k rows total
testing/
  H0.csv                  hovering
  B1.csv                  back-and-forth 1 s period
  B4.csv                  back-and-forth 4 s period
  B10.csv                 back-and-forth 10 s period
  C1_5.csv                circular 1.5 s period
  C5.csv                  circular 5 s period

Columns

Column	Description
time	Time stamp (s)
position_x/y/z	Drone position (m)
roll/pitch/yaw	Drone orientation (rad)
roll_vel/pitch_vel/yaw_vel	Angular velocities (rad/s)
velocity_x/y/z	Drone velocity (m/s)
cable_x_0 … cable_x_5	Cable endpoint positions (m)
cable_x	Cable angle (rad)
cable_x_vel	Cable angular velocity (rad/s)
thrust	Total thrust (N)
torque_x/y/z	Body torques (N·m)
exp_id	Experiment index (training only, 0–9)
label	Trajectory name (testing only)

Notes

• All trajectories resampled to 100 Hz.
• Training experiments normalized to 40 s each.
• Testing trajectories kept at original duration.