File size: 3,498 Bytes
e049e50 911097e e049e50 911097e e049e50 911097e e049e50 911097e e049e50 911097e e049e50 911097e e049e50 911097e e049e50 911097e e049e50 911097e e049e50 911097e e049e50 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 | {
"generator": "twm.force_recovery.export_force_columns",
"stiffness_n_per_mm": 2.0,
"penetration": "penetration_mm = force_normal_n / stiffness_n_per_mm (ASSUMED stiffness)",
"press_direction": "R(q_row) @ gel_axis_in_rigid from calibration/*/T_gel_to_rigid_<side>.json",
"no_contact_rule": "force == 0 -> penetration 0 and target_pose is a copy of sensor_<side>_pose",
"duplicate_rows": "tactile_<side>_is_new == False rows reuse the previous estimate (forward fill, asserted exact)",
"source_release": "/media/yxma/Disk1/twm/release/motherboard/meta/2026-05-10/episode_002.parquet",
"force_calibration": [
"react_calib (calibration-free recon + gain field + clip correction)"
],
"supersedes": "Exports before 2026-08-07 used a calibration that applied pixel-unit weights to mm-unit features (end-to-end rho 0.143, peak force 18.3 N). Those newton values are void; these come from react_calib (held-out rho 0.739, MAE 1.23 N, split by press position).",
"task": "motherboard",
"date": "2026-05-10",
"episode": "episode_002",
"rows": 10475,
"sides": [
{
"side": "left",
"rows": 10475,
"npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_002_left.npz",
"force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
"pipeline_version": 5,
"n_contact_rows": 3646,
"no_contact_frac": 0.6519331742243437,
"is_new_frac": 0.28992840095465394,
"duplicate_rows_forward_filled": 7438,
"force_p50_n": 0.0,
"force_p95_n": 5.145384788513184,
"force_max_n": 7.293181896209717,
"force_p50_contact_n": 2.9424359798431396,
"penetration_p50_mm": 0.0,
"penetration_p95_mm": 2.572692394256592,
"penetration_max_mm": 3.6465909481048584,
"gel_max_depth_p95_mm": 0.987415146827696,
"gel_max_depth_max_mm": 2.5124549865722656,
"identity_max_abs_dev": 0.0,
"direction": {
"usable": true,
"v_dot_n_rise_mm": 17.353876757240776,
"v_dot_n_fall_mm": 7.143570223529609,
"corr_dforce_vdotn": 0.2914760563516624,
"n_rise": 1192,
"n_fall": 1124
}
},
{
"side": "right",
"rows": 10475,
"npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_002_right.npz",
"force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
"pipeline_version": 5,
"n_contact_rows": 2829,
"no_contact_frac": 0.7299284009546539,
"is_new_frac": 0.28878281622911695,
"duplicate_rows_forward_filled": 7450,
"force_p50_n": 0.0,
"force_p95_n": 5.259615421295166,
"force_max_n": 7.869999885559082,
"force_p50_contact_n": 2.9424359798431396,
"penetration_p50_mm": 0.0,
"penetration_p95_mm": 2.629807710647583,
"penetration_max_mm": 3.934999942779541,
"gel_max_depth_p95_mm": 0.9458164691925007,
"gel_max_depth_max_mm": 2.131033182144165,
"identity_max_abs_dev": 0.0,
"direction": {
"usable": true,
"v_dot_n_rise_mm": 10.64731797745946,
"v_dot_n_fall_mm": -0.5853754667810747,
"corr_dforce_vdotn": 0.28042243071430834,
"n_rise": 1005,
"n_fall": 880
}
}
],
"columns": [
"force_left_normal_n",
"force_left_penetration_mm",
"force_left_target_pose",
"force_right_normal_n",
"force_right_penetration_mm",
"force_right_target_pose"
]
} |