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