File size: 3,498 Bytes
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"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_008.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_008",
"rows": 1305,
"sides": [
{
"side": "left",
"rows": 1305,
"npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_008_left.npz",
"force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
"pipeline_version": 5,
"n_contact_rows": 479,
"no_contact_frac": 0.6329501915708813,
"is_new_frac": 0.28812260536398465,
"duplicate_rows_forward_filled": 929,
"force_p50_n": 0.0,
"force_p95_n": 2.9424359798431396,
"force_max_n": 4.285294055938721,
"force_p50_contact_n": 1.1733332872390747,
"penetration_p50_mm": 0.0,
"penetration_p95_mm": 1.4712179899215698,
"penetration_max_mm": 2.1426470279693604,
"gel_max_depth_p95_mm": 0.2548549771308899,
"gel_max_depth_max_mm": 0.44544389843940735,
"identity_max_abs_dev": 0.0,
"direction": {
"usable": true,
"v_dot_n_rise_mm": -0.11750949234040559,
"v_dot_n_fall_mm": -2.0572285573541236,
"corr_dforce_vdotn": 0.19195093569878122,
"n_rise": 97,
"n_fall": 97
}
},
{
"side": "right",
"rows": 1305,
"npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_008_right.npz",
"force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
"pipeline_version": 5,
"n_contact_rows": 549,
"no_contact_frac": 0.5793103448275863,
"is_new_frac": 0.28888888888888886,
"duplicate_rows_forward_filled": 928,
"force_p50_n": 0.0,
"force_p95_n": 2.9424359798431396,
"force_max_n": 5.145384788513184,
"force_p50_contact_n": 1.9833333492279053,
"penetration_p50_mm": 0.0,
"penetration_p95_mm": 1.4712179899215698,
"penetration_max_mm": 2.572692394256592,
"gel_max_depth_p95_mm": 0.7754240036010742,
"gel_max_depth_max_mm": 1.202385425567627,
"identity_max_abs_dev": 0.0,
"direction": {
"usable": true,
"v_dot_n_rise_mm": 3.3012905844087608,
"v_dot_n_fall_mm": 0.47521478549087154,
"corr_dforce_vdotn": 0.06818453181709395,
"n_rise": 141,
"n_fall": 140
}
}
],
"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"
]
} |