This dataset was created to track the steps involved in making the livMats Biomimetic Shell, from design to fabrication. It contains information about the various tasks performed during the assembly of the shell's cassettes. The dataset presents an array of essential tasks, each contributing to the shell's creation:

Move home Take tool Store tool Initiate tool Close tool Travel Pick Place Nail Glue Spill glue HALT

To carry out the fabrication process, a 6-Axis Kuka industrial robot with a linear axis was used. The robot utilized three tools: Nail-gripper, Vacuum-gripper, and Glue-gun, to accomplish the assembly. For more details about the dataset variables, you can refer to the engineering metadata, which clearly explains each element and its significance.

The data is presented in a JSON file, encompassing valuable information for each fabrication task:

Job: Each task is associated with one of the 33 fabrication jobs within the process. A fabrication job contains data about tasks performed for 3-4 cassettes together. Name: This refers to the name of the specific task. Actor: The name of the fabrication actor who executed the task. Index: The index of the task in relation to the corresponding fabrication job. OperationCount: This denotes the number of sub-operations within the task, such as the quantity of nails in a nailing task or the number of glue lines in a glue task. startTime: The starting time of the task. endTime: The end time of the task. totalTime: The total duration of the task's execution, measured in seconds. subOperationDuration: The execution time for each sub-operation within the task, also measured in seconds. totalDistance: The overall execution distance covered during the task, measured in meters. supOperationDistance: The execution distance covered for each sub-operation, measured in meters. addedTime: The time elapsed from the beginning of the fabrication job execution. trueIndex: In cases where hardware or software errors occur, task indexes may reset. The trueIndex maintains the actual task index within the fabrication job. desigElement: The number of the design element (cassette) to which the task is related. subDesignElement: The name of the sub-design element (plate/beam) to which the task is related. actorData: This is a dictionary containing data transmitted to the actor for the actual fabrication. The dictionary includes the following key-value pairs:

  startFrame: A dictionary of frames represented by X, Y, Z, A, B, C.
  endFrames: A dictionary of frames represented by X, Y, Z, A, B, C.
  startExternalAxisValues: A list of linear axis values for each frame in the startFrames.
  endExternalAxisValues: A list of linear axis values for each frame in the endFrames.
  startAxisValues: A dictionary of axis values represented by A1, A2, A3, A4, A5, A6.
  startSpeedLimit: A list of speed limits for each frame in the startFrames.
  endSpeedLimit: A list of speed limits for each frame in the endFrames.
  offsets: An array of three numbers representing the offsets for the task in X, Y, Z.