README.md

---
license: mit
tags:
- telemetry
- time-series
- sls
- 3d-printing
- additive-manufacturing
- inova-mk1
configs:
- config_name: ticks
  data_files:
  - split: train
    path: data/ticks/*.parquet
  default: true
- config_name: peregrine
  data_files:
  - split: train
    path: data/peregrine/*.parquet
dataset_info:
  features:
  - name: frame_chamber
    dtype: image
  - name: frame_galvo
    dtype: image
  - name: frame_thermal
    dtype: image
---

# Inova-Mk1-Telemetry

Time-aligned printer-state recordings from Inova Mk1 SLS 3D print runs. One row per 10 Hz **tick** — the recorder's `/state/snapshot` poll — with the full sensor state snapshot (~64 columns: temperatures, position, power, lights) on every row, the nearest camera frame embedded inline when one fell within the prior 100 ms window, and any 1 kHz position-stream samples from that window collected as a nested list.

25 parquet files across builds spanning 2026-05 through 2026-07. Build metadata (job name, profile, start/end time) is denormalized into every row, so each file is self-sufficient for ML — no joins needed.

```python
from datasets import load_dataset
ds = load_dataset("ppak10/Inova-Mk1-Telemetry", split="train")
row = ds[0]
# row["frame_chamber"]            → PIL.Image.Image (or None)
# row["bedmatrix"]                → {width, height, values (768 °C floats), path} (or None)
# row["powderBed.temp.current"]   → float (°C)
# row["positions.position.z2"]    → float (µm)
# row["position_hf_burst"]        → list of {ts_offset_ms, x, y, z1, z2, r, has_homed}
```

Full image bytes are embedded in each row — no separate frame download. Filter to rows with a particular frame kind:

```python
with_chamber = ds.filter(lambda r: r["frame_chamber"] is not None)
```

## `peregrine` config — defect-labeled layers

A second, sparse config shaped like the [ORNL Peregrine dataset](https://huggingface.co/datasets/ppak10/Peregrine-Dataset-v2023-11): **one row per layer that carries a defect label**, for Peregrine-style transfer learning. Only labeled layers are recorded, so it's small and defect-focused (vs. the dense per-tick `ticks` config).

```python
peregrine = load_dataset("ppak10/Agentic-SLS-Telemetry", "peregrine", split="train")
row = peregrine[0]
# row["image_after_powder"]  → JPEG bytes, post-recoat chamber still (Peregrine after_powder)
# row["image_after_melt"]    → JPEG bytes, post-scan chamber still   (Peregrine after_melt)
# row["part_mask"]           → PNG bytes, galvo scan mask            (Peregrine part_ids)
# row["labels"]              → list of {class, bbox [x0,y0,x1,y1] normalized, polarity}
# row["has_debris"], ...     → bool per class (PEREGRINE_ALL_CLASSES)
# row["printBed_temp"], row["laser_power_w"], ...  → process scalars at the layer
```

Images are raw encoded bytes (`binary`, like Peregrine's `image_after_*`) — decode with `PIL.Image.open(io.BytesIO(...))`. Labels are bbox-level (from the live defect detector / operator verdicts), not per-pixel masks; `polarity` is `positive` (defect present) or `negative` (operator marked the alert a false positive). One parquet per build (`data/peregrine/{build:03d}.parquet`), so a new build never rewrites existing files.

---

## Timelapse previews

Per-build layer-by-layer timelapse GIFs (one frame per detected print layer, 25 fps, ≤ 12 s). Below is the composite (chamber | thermal | galvo) for build 012, the first full Layers-phase run:

![Build 012 galvo timelapse — laser scan trace per layer](previews/012/timelapse_galvo.gif)

<sub>Galvo (scan-mirror) trace for build 012 — Hex Coasters, 221 layers. Each frame is the last captured view of one print layer just before the next powder spread. Full composite (chamber | thermal | galvo) at `previews/012/timelapse_composite.gif`.</sub>

Individual-kind GIFs (`timelapse_chamber.gif`, `timelapse_thermal.gif`) and full-speed MP4 previews are also available under `previews/{build_id:03d}/`. See the **Previews** section below.

---

## Row shape

Each row is one moment in time (a single 10 Hz tick). ~80 columns:

| Group | Columns | Notes |
|---|---|---|
| **Build context** | `build_id`, `job_name`, `started_at`, `ended_at`, `phase`, `print_profile_name`, `inova_session_id` | Denormalized — same value on every row in a given file. `inova_session_id` is null until the upstream sidecar CSV is curated by hand. |
| **Timestamp** | `ts` (`timestamp[us, UTC]`) | `respondedAt` from `/state/snapshot`. |
| **Position (10 Hz)** | `positions.position.{x,y,z1,z2,r}` | Stage position in **microns** (firmware native; divide by 1000 for mm). Always present. `z2` advances with each deposited layer and is used for layer detection in the timelapse scripts. |
| **Lights** | `lights.lights.{enabled,count}` | |
| **Power (W)** | `{laser,fanGalvo,buzzer,laserSafety,io-en,wd-en,wd-in}.power`, `powerman.power.{current,required,max}` | Per-component draw and manager state. |
| **Temperature (°C)** | `{powderBed,printBed}.temp.{current,average,target}`, `{powderChamber1..4,printChamber1..4}.temp.{current,average,target}`, `{quadrant1..4,surface,surfaceAvg,surfaceMin,surfaceMax,testTemp1}.temp.{current,average}` | ~51 columns. |
| **Frame images** | `frame_chamber`, `frame_galvo`, `frame_thermal` | HF `Image` feature (struct of `{bytes, path}`). Null when no frame of that kind was captured in the 100 ms window. Loads as `PIL.Image` via `datasets`. `path` preserves the original filename for traceability. **`frame_thermal` is a legacy pre-rendered IR heatmap GIF and is null for builds recorded after 2026-07-12 — use `bedmatrix` for thermal from there on** (see below). |
| **Bed temperature matrix** | `bedmatrix` | Struct `{width: int32, height: int32, values: list<float32>, path: string}`. The raw IR bed-surface temperature grid (32×24 = 768 cells, row-major, °C) attached nearest-before-tick in the same 100 ms window; null when none landed. Reshape `values` to `height × width` and colormap to render a heatmap. This supersedes `frame_thermal` and is available on all builds (the stream has run since build 013). |
| **Position burst** | `position_hf_burst` | `list<struct<ts_offset_ms, x, y, z1, z2, r, has_homed>>`. 1 kHz position events that fell in `(tick_ts − 100 ms, tick_ts]`. Empty list during heating/idle. |

### Null frames

`frame_*` columns are null when no frame of that kind was captured within the 100 ms tick window — this preserves the "is this image fresh?" signal. Forward-fill for display or training:

```python
import polars as pl
df = pl.read_parquet("data/ticks/026.parquet")
df = df.with_columns(
    pl.col("frame_chamber").forward_fill(),
    pl.col("frame_thermal").forward_fill(),
    pl.col("frame_galvo").forward_fill(),
)
```

---

## Build inventory

25 builds total. Very short failed-heating runs (2–24 ticks) produce a parquet but represent only seconds of recording. The **timelapse** column shows the layer-by-layer composite GIF (chamber | thermal | galvo) for builds where the printer reached the sintering phase (z2 > 0).

| build_id | timelapse | job_name | ticks | date |
|---:|:---:|---|---:|---|
| 001 | <img src="previews/001/timelapse_composite.gif" width="280"> | Hex Coasters 2026_05_31 | 102,805 | 2026-05-31 |
| 002 | <img src="previews/002/timelapse_composite.gif" width="280"> | Hex Coasters 2026_05_31 | 68 | 2026-05-31 |
| 012 | <img src="previews/012/timelapse_composite.gif" width="280"> | Hex Coasters 2026_05_31 | 201,660 | 2026-05-31 |
| 013 | <img src="previews/013/timelapse_composite.gif" width="280"> | D790 and D638 and Benchy 2026_06_02 | 13,811 | 2026-06-02 |
| 014 | | D790 and D638 and Benchy 2026_06_02 | 2 | 2026-06-02 |
| 016 | | D790 and D638 and Benchy 2026_06_02 | 14 | 2026-06-02 |
| 017 | | D790 and D638 and Benchy 2026_06_02 | 2 | 2026-06-02 |
| 025 | | D790 and D638 and Benchy 2026_06_02 | 24 | 2026-06-02 |
| 026 | <img src="previews/026/timelapse_composite.gif" width="280"> | D790 and D638 and Benchy 2026_06_02 | 355,580 | 2026-06-02 |
| 028 | <img src="previews/028/timelapse_composite.gif" width="280"> | D790 and D638 2026_06_07 | 340,162 | 2026-06-07 |
| 029 | <img src="previews/029/timelapse_composite.gif" width="280"> | D790 and D638 and Cards 2026_06_09 | 285,092 | 2026-06-09 |
| 030 | <img src="previews/030/timelapse_composite.gif" width="280"> | D790 and D638 Recycled Powder 2026_06_24 | 228,723 | 2026-06-24 |
| 031 | <img src="previews/031/timelapse_composite.gif" width="280"> | D790 and D638 Recycled Powder 2026_06_25 | 161,379 | 2026-06-25 |
| 032 | <img src="previews/032/timelapse_composite.gif" width="280"> | Hex Coasters and Nameplates and Benchies | 19,954 | 2026-06-27 |
| 033 | <img src="previews/033/timelapse_composite.gif" width="280"> | Hex Coasters and Nameplates and Benchies | 1,559 | 2026-06-27 |
| 034 | <img src="previews/034/timelapse_composite.gif" width="280"> | Hex Coasters and Nameplates and Benchies | 18,251 | 2026-06-27 |
| 035 | <img src="previews/035/timelapse_composite.gif" width="280"> | D790 and D638 and other objects 2026_06_27 | 430,997 | 2026-06-27 |
| 036 | <img src="previews/036/timelapse_composite.gif" width="280"> | Hex Coasters and Nameplates and Benchies | 734,064 | 2026-06-28 |
| 037 | <img src="previews/037/timelapse_composite.gif" width="280"> | D790 and D638 Debug Run 2026_06_29 | 776 | 2026-06-29 |
| 038 | <img src="previews/038/timelapse_composite.gif" width="280"> | D790 and D638 Debug Run 2026_06_29 | 8,294 | 2026-06-29 |
| 039 | <img src="previews/039/timelapse_composite.gif" width="280"> | D790 and D638 and Nameplate 2026_06_29 | 334,454 | 2026-06-29 |
| 040 | <img src="previews/040/timelapse_composite.gif" width="280"> | D790 and D638 and D256 and Benchy 2026_07_01 | 446,764 | 2026-07-01 |
| 041 | <img src="previews/041/timelapse_composite.gif" width="280"> | Unknown 2026_07_09 ¹ | 134,790 | 2026-07-09 |
| 042 | <img src="previews/042/timelapse_composite.gif" width="280"> | Nameplates 2026_07_09 | 203,425 | 2026-07-10 |
| 043 | <img src="previews/043/timelapse_composite.gif" width="280"> | D790 and D638 and Nameplate 2026_07_10 | 373,863 | 2026-07-10 |
| **total** | | | **4,900,289** | |

¹ Build 041 was recovered from the NVMe spool after the recorder's Postgres database was reset; `job_name` is a placeholder.

---

## Files

```
data/ticks/{build_id:03d}.parquet      # one file per build, zero-padded (001–043)

previews/{build_id:03d}/
  chamber.mp4                          # optical — real-time 10 fps, forward-filled
  thermal.mp4                          # IR bed heatmap (from bedmatrix; inferno, fixed 20–200 °C)
  galvo.mp4                            # scan-mirror trace
  composite.mp4                        # 1×3 panel: chamber | thermal | galvo
  timelapse_chamber.gif                # layer-by-layer, 25 fps, ≤ 12 s
  timelapse_thermal.gif
  timelapse_galvo.gif
  timelapse_composite.gif              # 1×3 panel GIF
```

The HF glob `data/ticks/*.parquet` loads the full dataset across all builds. Builds that never started printing (z2 = 0 throughout) produce a timelapse GIF with zero or one frame.

---

## Previews

### Real-time MP4s

Four MP4s per build under `previews/{build_id:03d}/`: `chamber.mp4`, `thermal.mp4`, `galvo.mp4`, and `composite.mp4`. Playback at 10 fps (the tick rate), so video duration equals build wall-clock time — build 026 → ~9h54m of video. Null frames are forward-filled for viewing continuity.

### Timelapse GIFs

Four animated GIFs per build sampled one frame per detected print layer:

- **Layer detection**: `positions.position.z2` quantized in 100 µm buckets. Only z2 > 0 rows are used, so pre-print heating is automatically excluded.
- **Representative frame**: the *last* non-null frame within each z2 bucket — the most-recent view of the layer just before recoating begins.
- **Playback**: 25 fps, capped at 300 frames (12 s max). Null-frame levels are forward-filled within the GIF.
- **Canvas**: 240 px height (half the MP4 canvas) for web-friendly file sizes.

Both previews are sourced from this dataset's own parquet (not the recorder's raw frame files), so they see only the per-tick-attached frame subset (~36% chamber, ~37% galvo attachment rate). The **thermal** panel is rendered from the numeric `bedmatrix` IR grid — inferno colormap over a fixed 20–200 °C range, so the same color means the same temperature across every build — rather than the legacy `frame_thermal` GIF. Builds 001/002/012 predate the bedmatrix stream and fall back to the old GIF.

---

## What's lost vs the raw exporter format

This dataset is **tick-anchored**, not a strict outer join. Three things are reduced compared to the upstream flat exports:

- **Between-tick position resolution**: the 1 kHz `position_hf` stream is preserved *during* motion via `position_hf_burst`, but not as standalone rows between ticks. For the raw 1 kHz timeline fall back to the upstream `position_hf/{build_id}.parquet`.
- **Sparse events without telemetry**: no row exists for a camera frame or `events` record that doesn't land near a 10 Hz tick. This dataset represents "state at each tick", not "every recorded event".
- **`plotter_commands`**: not surfaced — historical builds predate this recorder feature and the table is empty.

---

## Joining back to Inova-Mk1-Database

Each row carries `print_profile_name` — the string the printer was running when the build started, taken from the `build_start` event payload. To recover the matching `PrintProfile.Id` UUID, join against [`ppak10/Inova-Mk1-Database`](https://huggingface.co/datasets/ppak10/Inova-Mk1-Database):

```python
import json
from pathlib import Path

profiles_dir = Path("Inova-Mk1-Database/source/PrintProfiles")
name_to_id = {
    json.load(p.open())["Name"]: json.load(p.open())["Id"]
    for p in profiles_dir.glob("*.json")
}
ds = ds.map(lambda r: {**r, "print_profile_id": name_to_id.get(r["print_profile_name"])})
```

---

## Upstream

Raw data lives in [`Agentic-Additive-Manufacturing-Process-Optimization`](https://github.com/ppak10/Agentic-Additive-Manufacturing-Process-Optimization). Its `scripts/export.py` produces flat JSONL/parquet files under `data/exports/`. This dataset reads from those directly — no live database connection required.

---

## Regenerate

```sh
# Full ETL (all builds)
uv run scripts/ticks/01_extract.py

# Specific builds only
uv run scripts/ticks/01_extract.py 26 28

# MP4 previews
uv run scripts/previews/01_render.py          # all builds
uv run scripts/previews/01_render.py 26 28    # specific builds

# Timelapse GIFs
uv run scripts/previews/02_timelapse.py          # all builds
uv run scripts/previews/02_timelapse.py 26 28    # specific builds
```