{
  "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
  ]
}