| { |
| "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_005.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_005", |
| "rows": 763, |
| "sides": [ |
| { |
| "side": "left", |
| "rows": 763, |
| "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_005_left.npz", |
| "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)", |
| "pipeline_version": 5, |
| "n_contact_rows": 424, |
| "no_contact_frac": 0.4442988204456094, |
| "is_new_frac": 0.28833551769331583, |
| "duplicate_rows_forward_filled": 543, |
| "force_p50_n": 1.3931856155395508, |
| "force_p95_n": 5.259615421295166, |
| "force_max_n": 6.251071453094482, |
| "force_p50_contact_n": 2.9424359798431396, |
| "penetration_p50_mm": 0.6965928077697754, |
| "penetration_p95_mm": 2.629807710647583, |
| "penetration_max_mm": 3.125535726547241, |
| "gel_max_depth_p95_mm": 0.5874930620193481, |
| "gel_max_depth_max_mm": 1.0830680131912231, |
| "identity_max_abs_dev": 0.0, |
| "direction": { |
| "usable": true, |
| "v_dot_n_rise_mm": -3.2478576942818433, |
| "v_dot_n_fall_mm": -1.454201117568116, |
| "corr_dforce_vdotn": -0.09047358782818703, |
| "n_rise": 118, |
| "n_fall": 121 |
| } |
| }, |
| { |
| "side": "right", |
| "rows": 763, |
| "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_005_right.npz", |
| "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)", |
| "pipeline_version": 5, |
| "n_contact_rows": 286, |
| "no_contact_frac": 0.6251638269986894, |
| "is_new_frac": 0.28964613368283093, |
| "duplicate_rows_forward_filled": 542, |
| "force_p50_n": 0.0, |
| "force_p95_n": 4.285294055938721, |
| "force_max_n": 5.259615421295166, |
| "force_p50_contact_n": 2.9424359798431396, |
| "penetration_p50_mm": 0.0, |
| "penetration_p95_mm": 2.1426470279693604, |
| "penetration_max_mm": 2.629807710647583, |
| "gel_max_depth_p95_mm": 0.7971731424331665, |
| "gel_max_depth_max_mm": 0.9093713760375977, |
| "identity_max_abs_dev": 0.0, |
| "direction": { |
| "usable": true, |
| "v_dot_n_rise_mm": 3.7499645627611256, |
| "v_dot_n_fall_mm": -1.6012164958931512, |
| "corr_dforce_vdotn": 0.3095885814990277, |
| "n_rise": 91, |
| "n_fall": 66 |
| } |
| } |
| ], |
| "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" |
| ] |
| } |
