| { |
| "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_004.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_004", |
| "rows": 2406, |
| "sides": [ |
| { |
| "side": "left", |
| "rows": 2406, |
| "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_004_left.npz", |
| "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)", |
| "pipeline_version": 5, |
| "n_contact_rows": 1403, |
| "no_contact_frac": 0.4168744804655029, |
| "is_new_frac": 0.286783042394015, |
| "duplicate_rows_forward_filled": 1716, |
| "force_p50_n": 1.1662499904632568, |
| "force_p95_n": 4.3677778244018555, |
| "force_max_n": 7.869999885559082, |
| "force_p50_contact_n": 2.636666774749756, |
| "penetration_p50_mm": 0.5831249952316284, |
| "penetration_p95_mm": 2.1838889122009277, |
| "penetration_max_mm": 3.934999942779541, |
| "gel_max_depth_p95_mm": 0.5770630240440369, |
| "gel_max_depth_max_mm": 1.2534384727478027, |
| "identity_max_abs_dev": 0.0, |
| "direction": { |
| "usable": true, |
| "v_dot_n_rise_mm": -1.2867537413876176, |
| "v_dot_n_fall_mm": -0.6577187948106586, |
| "corr_dforce_vdotn": -0.027609117419923508, |
| "n_rise": 377, |
| "n_fall": 412 |
| } |
| }, |
| { |
| "side": "right", |
| "rows": 2406, |
| "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_004_right.npz", |
| "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)", |
| "pipeline_version": 5, |
| "n_contact_rows": 2403, |
| "no_contact_frac": 0.0012468827930174342, |
| "is_new_frac": 0.2876142975893599, |
| "duplicate_rows_forward_filled": 1714, |
| "force_p50_n": 1.1662499904632568, |
| "force_p95_n": 4.285294055938721, |
| "force_max_n": 5.439090728759766, |
| "force_p50_contact_n": 1.1662499904632568, |
| "penetration_p50_mm": 0.5831249952316284, |
| "penetration_p95_mm": 2.1426470279693604, |
| "penetration_max_mm": 2.719545364379883, |
| "gel_max_depth_p95_mm": 1.0642808079719543, |
| "gel_max_depth_max_mm": 1.8097175359725952, |
| "identity_max_abs_dev": 0.0, |
| "direction": { |
| "usable": true, |
| "v_dot_n_rise_mm": 1.7850098795861638, |
| "v_dot_n_fall_mm": -1.7479678463779726, |
| "corr_dforce_vdotn": 0.09774470163324255, |
| "n_rise": 389, |
| "n_fall": 421 |
| } |
| } |
| ], |
| "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" |
| ] |
| } |
