| { |
| "schema": "vitacsim_tactile_calib_v1", |
| "sim_root": "/home/youlinjing/Code/lightwheel/IssacLab_510test/ViTacLab/logs/vitacsim_calibration/sweep", |
| "sensor_mode": "vitacsim", |
| "normal_force": { |
| "completeness": { |
| "no_contact": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| }, |
| "W200": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| }, |
| "W100": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| }, |
| "W050": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| }, |
| "W020": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| }, |
| "W010": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| } |
| }, |
| "marker_disp_max_px": { |
| "no_contact": 0.0, |
| "W200": 16.093669891357422, |
| "W100": 4.021461486816406, |
| "W050": 1.0058543682098389, |
| "W020": 0.1608150154352188, |
| "W010": 0.040215637534856796 |
| }, |
| "summary_fn_peak": { |
| "no_contact": 0.0, |
| "W200": 0.49821123480796814, |
| "W100": 0.24899660050868988, |
| "W050": 0.12455280870199203, |
| "W020": 0.04978259280323982, |
| "W010": 0.0248990710824728 |
| } |
| }, |
| "lateral_force_W100": { |
| "completeness": { |
| "W100_Fx0_Fy0": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| }, |
| "W100_Fx0.05_Fy0": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| }, |
| "W100_Fx0.1_Fy0": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| }, |
| "W100_Fx0.15_Fy0": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| }, |
| "W100_Fx0.2_Fy0": { |
| "rgb": true, |
| "marker_displacement": true, |
| "dir_exists": true |
| } |
| }, |
| "marker_disp_max_px": { |
| "W100_Fx0_Fy0": 4.02159309387207, |
| "W100_Fx0.05_Fy0": 4.22421932220459, |
| "W100_Fx0.1_Fy0": 4.171862602233887, |
| "W100_Fx0.15_Fy0": 3.9192357063293457, |
| "W100_Fx0.2_Fy0": 3.547168731689453 |
| } |
| }, |
| "expected_nf_cases": [ |
| "no_contact", |
| "W200", |
| "W100", |
| "W050", |
| "W020", |
| "W010" |
| ], |
| "expected_lateral_fx": [ |
| 0.0, |
| 0.05, |
| 0.1, |
| 0.15, |
| 0.2 |
| ] |
| } |
