🌀 Single Pendulum Digital Twin

A digital twin simulation of a single rod pendulum built with Python and pygame.
This project models and simulates pendulum dynamics and includes real-world dataset collection, automated movement, and filtering experiments.

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📦 Install

pip install -r requirements.txt

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🚀 Run the Simulation

python simulate_pendulum.py

This launches the pendulum simulation UI built with pygame.
It visualizes the dynamics of a single rod pendulum and is synced with real-world data.

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🤖 Automated Movements

We implemented scripts to automatically move the cart and swing the pendulum upward.

📂 Dataset Collection

We collected real-world sensor data across different scenarios to calibrate and validate the simulation.
Here are sample recordings of the data collection sessions:

🎥 Cart Movements Dataset

Logs accelerometer + encoder data as the cart moves in short bursts.

🎥 Single Pendulum Movements Video 1

🎥 Single Pendulum Movements Video 2

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🎥 Pendulum Extremes Dataset

Captures full-range theta swings — both minimum and maximum angles.

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🎥 Single Pendulum Movements Dataset

Focuses on the pendulum's motion while the cart is stationary.

🎥 Single Pendulum Movements Video

🛠️ Built With

• Python 3.x
• Pygame
• NumPy
• Pandas
• SciPy