Revert public metadata upload pending approval

DATA_DICTIONARY.md

@@ -1,107 +0,0 @@
-# Data Dictionary
-
-## Files
-
-| Path | Purpose |
-|---|---|
-| `README.md` | Dataset card and quickstart. |
-| `manifest.csv` | Human-readable experiment index. |
-| `manifest.parquet` | Parquet copy of the experiment index. |
-| `data/<config>/<public_experiment_id>.parquet` | Long-format time-series rows for one experiment. |
-| `PARQUET_VALIDATION.md` | Validation summary for the published Parquet files. |
-
-## Time-Series Parquet Schema
-
-Every experiment Parquet file has the same five columns:
-
-| Column | Type | Description |
-|---|---|---|
-| `time_ns` | `int64` | Timestamp in nanoseconds from the recorded time base. |
-| `time_utc` | `timestamp[ns, tz=UTC]` | UTC timestamp. |
-| `experiment` | `string` | Experiment identifier stored with the rows. |
-| `field` | `string` | Signal name, such as `elbow_q` or `right_knee/actual_q`. |
-| `value` | `double` | Numeric measurement value. |
-
-The data is long format: each timestamp and signal appears as a row. To work in a conventional table shape, pivot by `field`.
-
-## Manifest Columns
-
-| Column | Description |
-|---|---|
-| `public_experiment_id` | Public experiment ID used for filenames and examples. |
-| `hf_config` | Hugging Face config and subfolder containing the experiment Parquet. |
-| `hf_relative_path` | Relative path to the experiment Parquet inside the dataset repo. |
-| `robot` | Robot family, such as `h1` or `g1`. |
-| `platform` | Collection platform or source category. |
-| `experiment_group` | High-level group, such as `single_joint`, `multijoint`, or `single_joint_sysid`. |
-| `joint_group` | Joint grouping, such as arm, leg, or elbow teststand context. |
-| `joint` | Specific joint or multi-joint grouping. |
-| `motion_type` | Motion/program type parsed from the experiment name. |
-| `pose` | Pose label when encoded in the experiment name. |
-| `trial` | Trial number when encoded in the experiment name. |
-| `position` | Position label for teststand/sysid runs when available. |
-| `frequency_hz` | Frequency value parsed from the experiment name when available. |
-| `amplitude` | Amplitude value parsed from the experiment name when available. |
-| `recorded_at_from_name_utc` | UTC timestamp parsed from the experiment name when available. |
-| `min_time_utc` | Earliest timestamp in the experiment Parquet. |
-| `max_time_utc` | Latest timestamp in the experiment Parquet. |
-| `row_count` | Number of rows in the experiment Parquet. |
-| `field_count` | Number of distinct signal fields in the experiment Parquet. |
-| `parquet_size_bytes` | Size of the experiment Parquet file in bytes. |
-| `has_current` | Whether the experiment includes a current signal. |
-| `has_voltage` | Whether the experiment includes a voltage signal. |
-| `field_names` | Comma-separated list of signal fields in the experiment Parquet. |
-| `release_status` | Release readiness label, such as `ready` or `partial_electrical`. |
-| `quality_notes` | Data-quality notes for the experiment. |
-
-## Configs
-
-| Config | Files | Rows | Notes |
-|---|---:|---:|---|
-| `h1_single_joint` | 79 | 38,992,000 | H1 actual robot single-joint experiments. |
-| `h1_multijoint` | 98 | 35,856,000 | H1 actual robot multijoint experiments. |
-| `h1_elbow_teststand` | 156 | 27,660,000 | H1 elbow teststand experiments. |
-| `g1_leg_single_joint` | 126 | 74,339,640 | G1 leg single-joint experiments. |
-| `g1_leg_multijoint` | 15 | 9,353,880 | G1 leg multijoint experiments. |
-| `g1_arm_single_joint` | 84 | 34,414,560 | G1 arm single-joint experiments. |
-| `g1_arm_multijoint` | 15 | 6,062,832 | G1 arm multijoint experiments. |
-
-## Field Naming Notes
-
-H1 actual robot files use fields such as:
-
-```text
-elbow_q, elbow_dq, elbow_tau, elbow_temp
-shoulder_pitch_q, shoulder_pitch_dq, shoulder_pitch_tau, shoulder_pitch_temp
-shoulder_raise_q, shoulder_raise_dq, shoulder_raise_tau, shoulder_raise_temp
-shoulder_yaw_q, shoulder_yaw_dq, shoulder_yaw_tau, shoulder_yaw_temp
-```
-
-H1 elbow teststand files use:
-
-```text
-elbow_q, elbow_dq, elbow_tau, elbow_temp
-elbow_current, elbow_voltage
-```
-
-Seven H1 elbow teststand files are marked `partial_electrical` and include only:
-
-```text
-elbow_q, elbow_dq, elbow_tau, elbow_temp
-```
-
-G1 arm and leg files use slash-separated joint/signal names:
-
-```text
-right_elbow/actual_q
-right_elbow/command_q
-right_elbow/dq
-right_elbow/ddq
-right_elbow/position_error
-right_elbow/tau_est
-right_elbow/temperature_0
-right_elbow/temperature_1
-right_elbow/voltage
-```
-
-The same signal suffix pattern is used across the relevant G1 joints in each arm or leg config.

PARQUET_VALIDATION.md

@@ -1,30 +0,0 @@
-# Parquet Validation Summary
-
-Validated locally before upload on 2026-06-05 PDT.
-
-## Result
-
-- Manifest rows: 573
-- Parquet files under `data/`: 573
-- Files opened and read: 573
-- Missing files: 0
-- Extra files: 0
-- Empty files: 0
-- Total rows in manifest: 226,678,912
-- Total rows read from Parquet: 226,678,912
-- Total Parquet bytes in manifest: 1,857,492,979
-- Null cells in required columns: 0
-- NaN measurement values: 0
-- Infinite measurement values: 0
-- Schema mismatches: 0
-- Row-count mismatches: 0
-- Field-name mismatches: 0
-
-Overall result: pass.
-
-## Release Status
-
-- `ready`: 566 files
-- `partial_electrical`: 7 files
-
-The `partial_electrical` files are H1 elbow teststand experiments that have position/velocity/torque/temperature fields but do not include current and voltage. They are marked explicitly in the manifest.

README.md

@@ -3,168 +3,25 @@ license: apache-2.0
 tags:
 - robotics
 - sim-to-real
-- system-identification
 - h1
 - g1
 - unitree
+- RL
 - isaaclab
 - newton
-configs:
-- config_name: manifest
-  data_files: manifest.parquet
-  default: true
-- config_name: h1_single_joint
-  data_files: data/h1_single_joint/*.parquet
-  default: false
-- config_name: h1_multijoint
-  data_files: data/h1_multijoint/*.parquet
-  default: false
-- config_name: h1_elbow_teststand
-  data_files: data/h1_elbow_teststand/*.parquet
-  default: false
-- config_name: g1_leg_single_joint
-  data_files: data/g1_leg_single_joint/*.parquet
-  default: false
-- config_name: g1_leg_multijoint
-  data_files: data/g1_leg_multijoint/*.parquet
-  default: false
-- config_name: g1_arm_single_joint
-  data_files: data/g1_arm_single_joint/*.parquet
-  default: false
-- config_name: g1_arm_multijoint
-  data_files: data/g1_arm_multijoint/*.parquet
-  default: false
 ---
 
-# Anchor Lab Robot System Identification Dataset
+These datasets were captured from Anchor Lab, a sim-to-real transfer laboratory from Nvidia Robotics.
 
-These datasets were captured from Anchor Lab, a sim-to-real transfer laboratory from NVIDIA Robotics.
+This dataset is used to calibrate simulation against physical measurements for zero-shot sim-to-real deployment.
 
-This dataset is used to calibrate simulation against physical measurements for zero-shot sim-to-real deployment. It contains H1 and G1 robot system-identification time-series experiments in Parquet format.
 
-## Start Here
-
-Start with the default `manifest` config. It has one row per experiment and tells you which Parquet file to open.
-
-Each experiment Parquet file uses long-format time-series rows:
-
-```text
-time_ns, time_utc, experiment, field, value
-```
-
-The experiment files are stored under:
-
-```text
-data/<config>/<public_experiment_id>.parquet
-```
-
-## Quickstart
-
-```python
-from huggingface_hub import hf_hub_download
-import pandas as pd
-
-repo_id = "nvidia/Anchor-Lab"
-
-manifest_path = hf_hub_download(
-    repo_id=repo_id,
-    repo_type="dataset",
-    filename="manifest.csv",
-)
-manifest = pd.read_csv(manifest_path)
-
-# Example: H1 elbow teststand experiments with current and voltage.
-subset = manifest[
-    (manifest["hf_config"] == "h1_elbow_teststand")
-    & (manifest["has_current"])
-    & (manifest["has_voltage"])
-    & (manifest["release_status"] == "ready")
-]
-
-row = subset.iloc[0]
-parquet_path = hf_hub_download(
-    repo_id=repo_id,
-    repo_type="dataset",
-    filename=row["hf_relative_path"],
-)
-
-df = pd.read_parquet(parquet_path)
-print(row["public_experiment_id"])
-print(df.head())
-```
-
-Plot one signal:
-
-```python
-import matplotlib.pyplot as plt
-
-signal = df[df["field"] == "elbow_q"].sort_values("time_ns")
-plt.plot(signal["time_utc"], signal["value"])
-plt.xlabel("time")
-plt.ylabel("elbow_q")
-plt.show()
-```
-
-Convert one long-format experiment to wide format:
-
-```python
-wide = (
-    df.pivot_table(
-        index=["time_ns", "time_utc", "experiment"],
-        columns="field",
-        values="value",
-        aggfunc="first",
-    )
-    .reset_index()
-)
-```
-
-## Configs
-
-| Config | Experiments | Description |
-|---|---:|---|
-| `manifest` | 573 | One row per experiment. Use this first. |
-| `h1_single_joint` | 79 | H1 actual robot single-joint experiments. |
-| `h1_multijoint` | 98 | H1 actual robot multijoint experiments. |
-| `h1_elbow_teststand` | 156 | H1 elbow teststand experiments. |
-| `g1_leg_single_joint` | 126 | G1 leg single-joint experiments. |
-| `g1_leg_multijoint` | 15 | G1 leg multijoint experiments. |
-| `g1_arm_single_joint` | 84 | G1 arm single-joint experiments. |
-| `g1_arm_multijoint` | 15 | G1 arm multijoint experiments. |
-
-## Common Filters
-
-```python
-# All G1 leg single-joint experiments.
-manifest[(manifest["robot"] == "g1") & (manifest["hf_config"] == "g1_leg_single_joint")]
-
-# H1 teststand experiments with electrical measurements.
-manifest[
-    (manifest["hf_config"] == "h1_elbow_teststand")
-    & (manifest["has_current"])
-    & (manifest["has_voltage"])
-]
-
-# Experiments marked ready.
-manifest[manifest["release_status"] == "ready"]
-```
-
-## Data Notes
-
-- 573 Parquet files are included.
-- All files use the same long-format schema: `time_ns`, `time_utc`, `experiment`, `field`, `value`.
-- 566 experiments are marked `ready`.
-- 7 H1 elbow teststand experiments are marked `partial_electrical`; they contain valid mechanical fields but do not include current/voltage.
-- See `DATA_DICTIONARY.md` for manifest column descriptions and signal naming notes.
-- See `PARQUET_VALIDATION.md` for the local validation summary.
-
-## Contributors
-
-* Elena Shrestha `<eshrestha@nvidia.com>`
-* Vignesh Bhavananthan `<vbhavanantha@nvidia.com>`
-* Vidur Vij `<vidurv@nvidia.com>`
-* Alex Omar `<aomar@nvidia.com>`
-* Andrew Wrenn `<awrenn@nvidia.com>`
-* Justin Shrake `<jshrake@nvidia.com>`
-* Michael Clive `<mclive@nvidia.com>`
-* Hong Wang `<hongw@nvidia.com>`
+Contributors:
+* Elena Shrestha <eshrestha@nvidia.com>
+* Vignesh Bhavananthan <vbhavanantha@nvidia.com>
+* Vidur Vij <vidurv@nvidia.com>
+* Alex Omar <aomar@nvidia.com>
+* Andrew Wrenn <awrenn@nvidia.com>
+* Justin Shrake <jshrake@nvidia.com>
+* Michael Clive <mclive@nvidia.com>
+* Hong Wang <hongw@nvidia.com>

manifest.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8098251ab9b2e17788f9adc70226a1fecb659684008e437974fa62fb92f1fcc6
-size 56808