| | {
|
| | "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",
|
| | "exceptions": ["nasa_milling: effort-only (no dynamic setpoints, infer normal from healthy episodes)"]
|
| | },
|
| |
|
| | "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,
|
| | "mve_compliant": true
|
| | },
|
| | "voraus": {
|
| | "source": "https://github.com/vorausrobotik/voraus-ad-dataset",
|
| | "robot": "Yu-Cobot",
|
| | "dof": 6,
|
| | "task": "pick-and-place",
|
| | "episodes": 2122,
|
| | "sampling_rate_hz": 100,
|
| | "mve_compliant": true
|
| | },
|
| | "nasa_milling": {
|
| | "source": "https://data.nasa.gov/dataset/milling-wear",
|
| | "machine": "CNC Milling",
|
| | "dof": 3,
|
| | "task": "milling",
|
| | "episodes": 167,
|
| | "sampling_rate_hz": 250,
|
| | "mve_compliant": false,
|
| | "note": "Effort-only dataset (current, vibration, acoustic). No dynamic setpoints. Machining params in metadata."
|
| | },
|
| | "rh20t": {
|
| | "source": "https://rh20t.github.io/",
|
| | "robot": "Franka Panda",
|
| | "dof": 7,
|
| | "task": "manipulation",
|
| | "episodes": 500,
|
| | "sampling_rate_hz": 10,
|
| | "mve_compliant": true
|
| | },
|
| | "reassemble": {
|
| | "source": "https://github.com/TUWIEN-ASL/REASSEMBLE",
|
| | "robot": "Franka Panda",
|
| | "dof": 7,
|
| | "task": "assembly",
|
| | "episodes": 100,
|
| | "sampling_rate_hz": 100,
|
| | "mve_compliant": true
|
| | }
|
| | }
|
| | }
|
| |
|
