| { |
| "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_009.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_009", |
| "rows": 1823, |
| "sides": [ |
| { |
| "side": "left", |
| "rows": 1823, |
| "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_009_left.npz", |
| "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)", |
| "pipeline_version": 5, |
| "n_contact_rows": 658, |
| "no_contact_frac": 0.6390565002742732, |
| "is_new_frac": 0.2868897421832145, |
| "duplicate_rows_forward_filled": 1300, |
| "force_p50_n": 0.0, |
| "force_p95_n": 5.259615421295166, |
| "force_max_n": 7.293181896209717, |
| "force_p50_contact_n": 2.636666774749756, |
| "penetration_p50_mm": 0.0, |
| "penetration_p95_mm": 2.629807710647583, |
| "penetration_max_mm": 3.6465909481048584, |
| "gel_max_depth_p95_mm": 0.47364065051078796, |
| "gel_max_depth_max_mm": 0.6254034042358398, |
| "identity_max_abs_dev": 0.0, |
| "direction": { |
| "usable": true, |
| "v_dot_n_rise_mm": -0.3619862757017536, |
| "v_dot_n_fall_mm": -3.8302336448489163, |
| "corr_dforce_vdotn": 0.16293185226220944, |
| "n_rise": 166, |
| "n_fall": 191 |
| } |
| }, |
| { |
| "side": "right", |
| "rows": 1823, |
| "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_009_right.npz", |
| "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)", |
| "pipeline_version": 5, |
| "n_contact_rows": 1003, |
| "no_contact_frac": 0.44980800877674165, |
| "is_new_frac": 0.2885353812397148, |
| "duplicate_rows_forward_filled": 1297, |
| "force_p50_n": 1.9833333492279053, |
| "force_p95_n": 7.293181896209717, |
| "force_max_n": 7.296801567077637, |
| "force_p50_contact_n": 4.285294055938721, |
| "penetration_p50_mm": 0.9916666746139526, |
| "penetration_p95_mm": 3.6465909481048584, |
| "penetration_max_mm": 3.6484007835388184, |
| "gel_max_depth_p95_mm": 0.9494932889938354, |
| "gel_max_depth_max_mm": 1.6886879205703735, |
| "identity_max_abs_dev": 0.0, |
| "direction": { |
| "usable": true, |
| "v_dot_n_rise_mm": 3.5248126719680766, |
| "v_dot_n_fall_mm": -1.2996011724248033, |
| "corr_dforce_vdotn": 0.1680401243870166, |
| "n_rise": 257, |
| "n_fall": 306 |
| } |
| } |
| ], |
| "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" |
| ] |
| } |
