Duplicate from factorynet/factorynet

Co-authored-by: Factory Net <factorynet@users.noreply.huggingface.co>

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README.md

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+# FactoryNet: A Large-Scale Dataset toward Industrial Time-Series Foundation Models.
+
+FactoryNet is a large-scale, unified dataset designed to advance Industrial Time-Series Foundation Models within robotic manufacturing. By providing highly standardized, high-frequency telemetry across different robot morphologies (UR3, KUKA), specialized end-effectors (screwdrivers, grippers), and tens of thousands of simulated counterfactuals, FactoryNet serves as a rigorous benchmark for sequence modeling, anomaly detection, and sim-to-real gap analysis.
+
+This repository is completely anonymized for double-blind review.
+
+---
+
+## Repository Structure
+
+The repository is structured into two main components: the unified structured data (`/data`) and the Sim2Real gap evaluation artifacts (`/artifacts`).
+
+* **`data/`**: Contains the massive-scale, chunked Parquet files adhering to the S-E-F-C schema.
+  * `aursad_*.parquet`, `cnc_*.parquet`, `voraus_*.parquet`: Pre-existing structured datasets.
+  * `factorywave_*.parquet`: Real-world UR3 and KUKA telemetry (including specialized screwdriver torque data and episode metadata).
+  * `simulations_baseline_*.parquet`: 10,000+ baseline pick-and-place episodes generated in Isaac Sim 4.5.0.
+  * `simulations_counterfactual_*.parquet`: Matched counterfactual episodes for causal and anomaly modeling.
+* **`artifacts/`**: Contains the targeted Sim2Real benchmarking toolkit.
+  * `real_csv/` & `sim_csv/`: Paired episode CSVs matching real-world executions with Isaac Sim equivalents.
+  * `pick_configs/`: Per-episode JSON configurations driving the simulation parameters.
+  * `gap_reports/` & `summary/`: Aggregated gap analysis, inventories, and per-episode markdown reports.
+
+---
+
+## The S-E-F-C Master Schema
+
+To facilitate foundation model training across heterogeneous hardware, all telemetry in the `data/` directory has been mapped to a unified **Setpoint-Effort-Feedback-Context (S-E-F-C)** schema. 
+
+Rather than dealing with vendor-specific labels, models can train on standardized representations:
+* **Setpoint (`setpoint_*`)**: The commanded states (position, velocity, acceleration, target torque).
+* **Effort (`effort_*`)**: The hardware's physical exertion (current, voltage, force, torque).
+* **Feedback (`feedback_*`)**: The measured physical state (actual position, velocity).
+* **Context (`ctx_*`)**: Metadata and discrete states (anomaly labels, task phases, hardware modes, execution times).
+
+*Note: Specialized screwdriver telemetry (e.g., tightening states, measured shank torque) is fully integrated into the tool-specific effort and context columns.*
+
+---
+
+## Sim2Real Gap Artifacts (UR3 Pick-and-Place)
+
+In addition to the raw structured data, this repository provides artifacts explicitly generated for kinematic and effort alignment benchmarking between real UR3 executions and Isaac Sim 4.5.0.
+
+### Episode Pairing and Chronology
+Real and sim episodes within the `artifacts/` folder are strictly paired by filename (e.g., `real_csv/<uuid>.csv` ↔ `sim_csv/<uuid>.csv`). 
+
+Chronological payload buckets were assigned using boundary episodes to validate dynamic alignment:
+* **0.6 kg**: Start → `0ab540a6-7210-4531-b2ed-6a04c7b90ff1`
+* **0.3 kg**: After that → `29312353-3555-4eba-b2fb-3e2495e89782`
+* **1.2 kg**: After that → `640c65a7-2aee-4b58-94de-334f37832e14`
+
+### Gap Metrics
+For each matched real/sim pair, the provided reports track:
+* **Joint RMSE (deg)**: Error across individual joints.
+* **TCP position RMSE (mm) / EE L2 RMS (mm)**: Pooled and step-wise Euclidean position errors.
+* **TCP rotvec RMSE (mrad)**: Rotational orientation gaps.
+* **W1 effort (A)**: Wasserstein-1 distance on `joint_current_*` to proxy effort alignment.
+
+*(Alignment is achieved by sorting by time, splitting by task phase, and linearly resampling timeframes to [0, 1] prior to calculating distances).*
+
+### Scope and Limits
+The Sim2Real artifact package is strictly designed to support **kinematic agreement analysis** and **effort-proxy comparisons**. It is explicitly *out of scope* for contact-accurate dynamics validation, visual-domain realism, or claims of identical actuator torque physics.

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