Datasets:
File size: 3,232 Bytes
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"factorynet_version": "1.0",
"description": "Unified schema for industrial robot time-series data",
"minimum_viable_episode": {
"required": [">=1 setpoint signal", ">=1 effort signal"],
"rationale": "Enables causal analysis: command → response"
},
"causal_structure": {
"intent": "setpoint_* (what robot was commanded)",
"action": "effort_* (how robot responded)",
"outcome": "feedback_* (what actually happened)"
},
"tiers": {
"universal": {
"description": "Required for all datasets (Tier 1)",
"columns": [
{"name": "setpoint_pos_{axis}", "type": "float64", "unit": "rad", "role": "setpoint"},
{"name": "effort_torque_{axis}", "type": "float64", "unit": "Nm", "role": "effort"},
{"name": "effort_current_{axis}", "type": "float64", "unit": "A", "role": "effort"},
{"name": "feedback_pos_{axis}", "type": "float64", "unit": "rad", "role": "feedback"},
{"name": "timestamp", "type": "float64", "unit": "s", "role": "metadata"},
{"name": "episode_id", "type": "string", "role": "metadata"}
]
},
"common": {
"description": "Present in >=50% of datasets (Tier 2)",
"columns": [
{"name": "setpoint_vel_{axis}", "type": "float64", "unit": "rad/s", "role": "setpoint"},
{"name": "feedback_vel_{axis}", "type": "float64", "unit": "rad/s", "role": "feedback"},
{"name": "effort_force_{x|y|z}", "type": "float64", "unit": "N", "role": "effort"},
{"name": "ctx_temp_{axis}", "type": "float64", "unit": "degC", "role": "context"}
]
},
"specific": {
"description": "Dataset-specific extensions (Tier 3)",
"examples": {
"aursad": ["effort_tool_torque", "feedback_tool_pos"],
"voraus": ["effort_torque_sensor_{axis}_a", "effort_torque_sensor_{axis}_b"],
"phm2010": ["aux_acoustic_emission", "aux_vibration_{axis}"]
}
}
},
"fault_types": {
"normal": "Normal operation",
"stiff_joint": "Increased friction or binding",
"collision": "Contact with unexpected obstacle",
"phantom_load": "Effort without corresponding command",
"grip_failure": "Gripper malfunction",
"missing_part": "Expected component absent",
"tool_wear": "Progressive degradation",
"sensor_fault": "Sensor malfunction or drift",
"other": "Unclassified anomaly"
},
"naming_convention": {
"pattern": "{role}_{signal}_{axis}",
"roles": ["setpoint", "effort", "feedback", "aux", "ctx"],
"examples": [
"setpoint_pos_0 → commanded position of axis 0",
"effort_torque_3 → motor torque of axis 3",
"feedback_vel_5 → actual velocity of axis 5"
]
},
"datasets": {
"aursad": {
"source": "https://zenodo.org/records/4487073",
"robot": "UR3e",
"dof": 6,
"task": "screwdriving",
"episodes": 4094,
"sampling_rate_hz": 100
},
"voraus": {
"source": "https://github.com/vorausrobotik/voraus-ad-dataset",
"robot": "Yu-Cobot",
"dof": 6,
"task": "pick-and-place",
"episodes": 2122,
"sampling_rate_hz": 100
}
}
}
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