| { |
| "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" |
| ] |
| } |
