| { |
| "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_001.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_001", |
| "rows": 7621, |
| "sides": [ |
| { |
| "side": "left", |
| "rows": 7621, |
| "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_001_left.npz", |
| "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)", |
| "pipeline_version": 5, |
| "n_contact_rows": 3093, |
| "no_contact_frac": 0.594147749639155, |
| "is_new_frac": 0.28303372260858156, |
| "duplicate_rows_forward_filled": 5464, |
| "force_p50_n": 0.0, |
| "force_p95_n": 5.259615421295166, |
| "force_max_n": 7.306922912597656, |
| "force_p50_contact_n": 2.9424359798431396, |
| "penetration_p50_mm": 0.0, |
| "penetration_p95_mm": 2.629807710647583, |
| "penetration_max_mm": 3.653461456298828, |
| "gel_max_depth_p95_mm": 1.085529088973999, |
| "gel_max_depth_max_mm": 2.814138650894165, |
| "identity_max_abs_dev": 0.0, |
| "direction": { |
| "usable": true, |
| "v_dot_n_rise_mm": 13.662031083333096, |
| "v_dot_n_fall_mm": 7.159910793745246, |
| "corr_dforce_vdotn": 0.19570888005623296, |
| "n_rise": 1125, |
| "n_fall": 954 |
| } |
| }, |
| { |
| "side": "right", |
| "rows": 7621, |
| "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_001_right.npz", |
| "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)", |
| "pipeline_version": 5, |
| "n_contact_rows": 1732, |
| "no_contact_frac": 0.7727332371079911, |
| "is_new_frac": 0.28277128985697414, |
| "duplicate_rows_forward_filled": 5466, |
| "force_p50_n": 0.0, |
| "force_p95_n": 4.285294055938721, |
| "force_max_n": 7.293209552764893, |
| "force_p50_contact_n": 2.9424359798431396, |
| "penetration_p50_mm": 0.0, |
| "penetration_p95_mm": 2.1426470279693604, |
| "penetration_max_mm": 3.6466047763824463, |
| "gel_max_depth_p95_mm": 0.9505183100700378, |
| "gel_max_depth_max_mm": 2.2311151027679443, |
| "identity_max_abs_dev": 0.0, |
| "direction": { |
| "usable": true, |
| "v_dot_n_rise_mm": 13.292071614534636, |
| "v_dot_n_fall_mm": 13.728640289173756, |
| "corr_dforce_vdotn": 0.02997737818629954, |
| "n_rise": 657, |
| "n_fall": 583 |
| } |
| } |
| ], |
| "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" |
| ] |
| } |
