{
  "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
    }
  }
}