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"schema_version": 1,
"schema_scope": "HTD descriptive sidecar; not an OXT-required schema or a new tactile type enum.",
"representation_scope": "Full 871-episode HTD contribution (760 DFTP and 111 informative F1), converter v0.8.3. Packed tactile representation and torso-relative pose convention are unchanged from the reviewed 20-episode example.",
"oxt_metadata_usage": "HTD descriptive sidecar, not a new OXT type enum. Metadata description preserves sensor meaning. All surface and motor streams use the documented MTTS areas; no supplementary tactile stream is introduced.",
"sensors": {
"InspireHandDFTP": {
"manufacturer": "Inspire Robots",
"model": "RH56DFTP",
"sensor_name_status": "model_specific_new_name_allowed_by_OXT_guide_section_2; use consistently in metadata and sensor photograph filenames",
"surface_sensing_principle": "piezoresistive",
"sensing_principle_evidence": {
"source": "dataset_owner",
"statement": "The owner identifies the DFTP surface tactile sensors as piezoresistive."
},
"sensor_description": "Inspire RH56DFTP hands use piezoresistive surface tactile arrays. Each hand provides 1,062 measured taxel values across 17 native patches. HTD stores sensor counts divided by 4,095; the export preserves these dimensionless readings. Same-area patches are padded and stacked into 11 MTTS surface sites, with 90 additional zero-padding cells identified by validity masks. This surface sensing principle does not describe the separate motor-force feedback channels.",
"surface_oxt_type": "matrix",
"surface_website_bucket": "sensor_array",
"surface_units": "dimensionless sensor counts divided by 4095; no calibrated force unit is claimed",
"measured_surface_values_per_hand": 1062,
"native_surface_patch_count_per_hand": 17,
"packed_surface_site_count_per_hand": 11,
"synthetic_padding_values_per_hand": 90,
"motor_feedback": {
"oxt_type": "state",
"website_bucket": "sensor_state",
"sensor_description": "Six built-in hand motor-force feedback channels per hand, separate from surface tactile force and pressure readings. Source force_act / 1000 values, signs and dtype are preserved. MTTS torque-area placement follows the Inspire-hand example; these are not calibrated N m or a six-axis wrist force/torque measurement.",
"source_dataset_template": "observations/proprioceptions/{side}_eef_finger_force_proprio",
"source_order": [
"thumb_rotation",
"thumb_flexion",
"index",
"middle",
"ring",
"little"
],
"units": "native_force_act_divided_by_1000; preserved source motor-force feedback, not calibrated N*m",
"unit_evidence": "Supplied DFTP and F1 manuals label force_act in g; both reference drivers divide by1000. Preserve this vendor force-feedback scale. This is not calibrated joint torque, and F1 surface-force units (N/20) do not apply to this stream.",
"index_base": 0,
"axes": [
"time",
"site",
"feature"
],
"groups": [
{
"data_key_template": "{side}_tactile_data_fingertorque",
"shape": [
"T",
4,
1
],
"areas": [
20,
19,
18,
17
],
"sites": [
{
"index": 0,
"area": 20,
"feature_dimensions": [
{
"index": 0,
"name": "little_motor_force",
"source_index": 5,
"source_channel": "little"
}
]
},
{
"index": 1,
"area": 19,
"feature_dimensions": [
{
"index": 0,
"name": "ring_motor_force",
"source_index": 4,
"source_channel": "ring"
}
]
},
{
"index": 2,
"area": 18,
"feature_dimensions": [
{
"index": 0,
"name": "middle_motor_force",
"source_index": 3,
"source_channel": "middle"
}
]
},
{
"index": 3,
"area": 17,
"feature_dimensions": [
{
"index": 0,
"name": "index_motor_force",
"source_index": 2,
"source_channel": "index"
}
]
}
]
},
{
"data_key_template": "{side}_tactile_data_thumbtorque",
"shape": [
"T",
1,
2
],
"areas": [
16
],
"sites": [
{
"index": 0,
"area": 16,
"feature_dimensions": [
{
"index": 0,
"name": "thumb_flexion_motor_force",
"source_index": 1,
"source_channel": "thumb_flexion"
},
{
"index": 1,
"name": "thumb_rotation_motor_force",
"source_index": 0,
"source_channel": "thumb_rotation"
}
]
}
]
}
],
"wrist_area_15": "not exported; no recorded wrist force/torque sensor stream identified"
},
"surface_feature_layout": {
"index_base": 0,
"side_values": [
"left",
"right"
],
"axes": [
"time",
"site",
"row",
"column"
],
"conversion": "identity; never divide by 4095 again",
"orientation": "native C-order shape only; no flip/transpose/rotation applied. Palm native14x8 is not a claim of physical14x8 orientation; manufacturer drawing lists8x14.",
"packing": {
"mode": "pad_and_stack",
"padding_value": 0,
"column_alignment": "left"
},
"source_values_per_hand": 1062,
"output_values_per_hand": 1152,
"padding_values_per_hand": 90,
"groups": {
"15x8": {
"data_key_template": "{side}_tactile_data_15x8",
"shape": [
"T",
6,
15,
8
],
"areas": [
4,
3,
2,
1,
0,
6
],
"sites": [
{
"area": 4,
"shape": [
15,
8
],
"patches": [
{
"name": "fingerone_tip_touch",
"source_offset": 0,
"source_shape": [
3,
3
],
"destination_slices": [
[
0,
3
],
[
0,
3
]
]
},
{
"name": "fingerone_top_touch",
"source_offset": 9,
"source_shape": [
12,
8
],
"destination_slices": [
[
3,
15
],
[
0,
8
]
]
}
]
},
{
"area": 3,
"shape": [
15,
8
],
"patches": [
{
"name": "fingertwo_tip_touch",
"source_offset": 185,
"source_shape": [
3,
3
],
"destination_slices": [
[
0,
3
],
[
0,
3
]
]
},
{
"name": "fingertwo_top_touch",
"source_offset": 194,
"source_shape": [
12,
8
],
"destination_slices": [
[
3,
15
],
[
0,
8
]
]
}
]
},
{
"area": 2,
"shape": [
15,
8
],
"patches": [
{
"name": "fingerthree_tip_touch",
"source_offset": 370,
"source_shape": [
3,
3
],
"destination_slices": [
[
0,
3
],
[
0,
3
]
]
},
{
"name": "fingerthree_top_touch",
"source_offset": 379,
"source_shape": [
12,
8
],
"destination_slices": [
[
3,
15
],
[
0,
8
]
]
}
]
},
{
"area": 1,
"shape": [
15,
8
],
"patches": [
{
"name": "fingerfour_tip_touch",
"source_offset": 555,
"source_shape": [
3,
3
],
"destination_slices": [
[
0,
3
],
[
0,
3
]
]
},
{
"name": "fingerfour_top_touch",
"source_offset": 564,
"source_shape": [
12,
8
],
"destination_slices": [
[
3,
15
],
[
0,
8
]
]
}
]
},
{
"area": 0,
"shape": [
15,
8
],
"patches": [
{
"name": "fingerfive_tip_touch",
"source_offset": 740,
"source_shape": [
3,
3
],
"destination_slices": [
[
0,
3
],
[
0,
3
]
]
},
{
"name": "fingerfive_top_touch",
"source_offset": 749,
"source_shape": [
12,
8
],
"destination_slices": [
[
3,
15
],
[
0,
8
]
]
}
]
},
{
"area": 6,
"shape": [
15,
8
],
"patches": [
{
"name": "fingerfive_middle_touch",
"source_offset": 845,
"source_shape": [
3,
3
],
"destination_slices": [
[
0,
3
],
[
0,
3
]
]
},
{
"name": "fingerfive_palm_touch",
"source_offset": 854,
"source_shape": [
12,
8
],
"destination_slices": [
[
3,
15
],
[
0,
8
]
]
}
]
}
]
},
"10x8": {
"data_key_template": "{side}_tactile_data_10x8",
"shape": [
"T",
4,
10,
8
],
"areas": [
14,
13,
12,
11
],
"sites": [
{
"area": 14,
"shape": [
10,
8
],
"patches": [
{
"name": "fingerone_palm_touch",
"source_offset": 105,
"source_shape": [
10,
8
],
"destination_slices": [
[
0,
10
],
[
0,
8
]
]
}
]
},
{
"area": 13,
"shape": [
10,
8
],
"patches": [
{
"name": "fingertwo_palm_touch",
"source_offset": 290,
"source_shape": [
10,
8
],
"destination_slices": [
[
0,
10
],
[
0,
8
]
]
}
]
},
{
"area": 12,
"shape": [
10,
8
],
"patches": [
{
"name": "fingerthree_palm_touch",
"source_offset": 475,
"source_shape": [
10,
8
],
"destination_slices": [
[
0,
10
],
[
0,
8
]
]
}
]
},
{
"area": 11,
"shape": [
10,
8
],
"patches": [
{
"name": "fingerfour_palm_touch",
"source_offset": 660,
"source_shape": [
10,
8
],
"destination_slices": [
[
0,
10
],
[
0,
8
]
]
}
]
}
]
},
"14x8": {
"data_key_template": "{side}_tactile_data_14x8",
"shape": [
"T",
1,
14,
8
],
"areas": [
5
],
"sites": [
{
"area": 5,
"shape": [
14,
8
],
"patches": [
{
"name": "palm_touch",
"source_offset": 950,
"source_shape": [
14,
8
],
"destination_slices": [
[
0,
14
],
[
0,
8
]
]
}
]
}
]
}
},
"validity_metadata": "Each Zarr root attribute tactile_layout includes the static validity_mask and exact source-patch placements. True marks a measured value; false marks synthetic zero padding. The upstream tactile encoder does not automatically use these masks.",
"geometry_limit": "Composite matrix shape is a storage layout, not a calibrated physical taxel layout. Coarse anatomical MTTS alignment is owner accepted; native taxels are not flipped, rotated, rescaled or averaged."
}
},
"InspireHandF1": {
"manufacturer": "Inspire Robots",
"model": "RH56F1",
"sensor_name_status": "model_specific_new_name_allowed_by_OXT_guide_section_2; use consistently in metadata and sensor photograph filenames",
"surface_sensing_principle": "capacitive",
"sensing_principle_evidence": {
"source": "dataset_owner_and_local_sdk",
"statement": "The owner identifies F1 surface tactile sensing as capacitive; the SDK module docstring also explicitly describes capacitive tactile sensors.",
"historical_source_identifier": "Supplied Inspire F1 SDK module _inspire_hand_f1_touch.py; its docstring identifies capacitive tactile sensing."
},
"sensor_description": "Inspire RH56F1 hands use capacitive surface tactile sensors. HTD stores 37 processed features per hand from five fingertips and three palm regions. Each fingertip provides normal force, tangential force, direction encoded as sine and cosine, and proximity; each palm region provides the same features except proximity. Forces are stored as force in newtons divided by 20. The export preserves the source representation and concatenates the three palm vectors into one MTTS area-5 site. This surface sensing principle does not describe the separate motor-force feedback channels.",
"surface_oxt_type": "state",
"surface_website_bucket": "sensor_state",
"surface_units": "mixed: force in newtons divided by 20; dimensionless direction sine/cosine; normalized dimensionless proximity",
"measured_surface_values_per_hand": 37,
"native_surface_patch_count_per_hand": 8,
"packed_surface_site_count_per_hand": 6,
"synthetic_padding_values_per_hand": 0,
"motor_feedback": {
"oxt_type": "state",
"website_bucket": "sensor_state",
"sensor_description": "Six built-in hand motor-force feedback channels per hand, separate from surface tactile force and pressure readings. Source force_act / 1000 values, signs and dtype are preserved. MTTS torque-area placement follows the Inspire-hand example; these are not calibrated N m or a six-axis wrist force/torque measurement.",
"source_dataset_template": "observations/proprioceptions/{side}_eef_finger_force_proprio",
"source_order": [
"thumb_rotation",
"thumb_flexion",
"index",
"middle",
"ring",
"little"
],
"units": "native_force_act_divided_by_1000; preserved source motor-force feedback, not calibrated N*m",
"unit_evidence": "Supplied DFTP and F1 manuals label force_act in g; both reference drivers divide by1000. Preserve this vendor force-feedback scale. This is not calibrated joint torque, and F1 surface-force units (N/20) do not apply to this stream.",
"index_base": 0,
"axes": [
"time",
"site",
"feature"
],
"groups": [
{
"data_key_template": "{side}_tactile_data_fingertorque",
"shape": [
"T",
4,
1
],
"areas": [
20,
19,
18,
17
],
"sites": [
{
"index": 0,
"area": 20,
"feature_dimensions": [
{
"index": 0,
"name": "little_motor_force",
"source_index": 5,
"source_channel": "little"
}
]
},
{
"index": 1,
"area": 19,
"feature_dimensions": [
{
"index": 0,
"name": "ring_motor_force",
"source_index": 4,
"source_channel": "ring"
}
]
},
{
"index": 2,
"area": 18,
"feature_dimensions": [
{
"index": 0,
"name": "middle_motor_force",
"source_index": 3,
"source_channel": "middle"
}
]
},
{
"index": 3,
"area": 17,
"feature_dimensions": [
{
"index": 0,
"name": "index_motor_force",
"source_index": 2,
"source_channel": "index"
}
]
}
]
},
{
"data_key_template": "{side}_tactile_data_thumbtorque",
"shape": [
"T",
1,
2
],
"areas": [
16
],
"sites": [
{
"index": 0,
"area": 16,
"feature_dimensions": [
{
"index": 0,
"name": "thumb_flexion_motor_force",
"source_index": 1,
"source_channel": "thumb_flexion"
},
{
"index": 1,
"name": "thumb_rotation_motor_force",
"source_index": 0,
"source_channel": "thumb_rotation"
}
]
}
]
}
],
"wrist_area_15": "not exported; no recorded wrist force/torque sensor stream identified"
},
"surface_feature_layout": {
"index_base": 0,
"axes": [
"time",
"site",
"feature"
],
"side_values": [
"left",
"right"
],
"groups": {
"fingers": {
"data_key_template": "{side}_tactile_data_fingers",
"shape": [
"T",
5,
5
],
"areas": [
4,
3,
2,
1,
0
],
"site_order": [
"little",
"ring",
"middle",
"index",
"thumb"
],
"feature_dimensions": [
{
"index": 0,
"name": "normal_force_div20",
"units": "force_in_newtons_divided_by_20",
"description": "Normal force in newtons divided by 20. Multiply by 20 for nominal newtons; no clipping is applied."
},
{
"index": 1,
"name": "tangential_force_div20",
"units": "force_in_newtons_divided_by_20",
"description": "Tangential force in newtons divided by 20. Multiply by 20 for nominal newtons; no clipping is applied."
},
{
"index": 2,
"name": "direction_sin",
"units": "dimensionless",
"description": "Sine of the tangential-force direction angle; dimensionless. Interpret jointly with direction_cos and the direction validity rule. The pair (direction_sin,direction_cos)=(0,0) represents the SDK no-contact flag."
},
{
"index": 3,
"name": "direction_cos",
"units": "dimensionless",
"description": "Cosine of the tangential-force direction angle; dimensionless. Interpret jointly with direction_sin and the direction validity rule. The pair (direction_sin,direction_cos)=(0,0) represents the SDK no-contact flag."
},
{
"index": 4,
"name": "proximity",
"units": "dimensionless_proximity",
"description": "Dimensionless proximity min(raw_count / 16000000, 1); not a metric distance."
}
]
},
"palms": {
"data_key_template": "{side}_tactile_data_palms",
"shape": [
"T",
1,
12
],
"areas": [
5
],
"site_order": [
"combined_palm"
],
"feature_dimensions": [
{
"index": 0,
"name": "palm_left.normal_force_div20",
"units": "force_in_newtons_divided_by_20",
"description": "Normal force in newtons divided by 20. Multiply by 20 for nominal newtons; no clipping is applied."
},
{
"index": 1,
"name": "palm_left.tangential_force_div20",
"units": "force_in_newtons_divided_by_20",
"description": "Tangential force in newtons divided by 20. Multiply by 20 for nominal newtons; no clipping is applied."
},
{
"index": 2,
"name": "palm_left.direction_sin",
"units": "dimensionless",
"description": "Sine of the tangential-force direction angle; dimensionless. Interpret jointly with direction_cos and the direction validity rule. The pair (direction_sin,direction_cos)=(0,0) represents the SDK no-contact flag."
},
{
"index": 3,
"name": "palm_left.direction_cos",
"units": "dimensionless",
"description": "Cosine of the tangential-force direction angle; dimensionless. Interpret jointly with direction_sin and the direction validity rule. The pair (direction_sin,direction_cos)=(0,0) represents the SDK no-contact flag."
},
{
"index": 4,
"name": "palm_center.normal_force_div20",
"units": "force_in_newtons_divided_by_20",
"description": "Normal force in newtons divided by 20. Multiply by 20 for nominal newtons; no clipping is applied."
},
{
"index": 5,
"name": "palm_center.tangential_force_div20",
"units": "force_in_newtons_divided_by_20",
"description": "Tangential force in newtons divided by 20. Multiply by 20 for nominal newtons; no clipping is applied."
},
{
"index": 6,
"name": "palm_center.direction_sin",
"units": "dimensionless",
"description": "Sine of the tangential-force direction angle; dimensionless. Interpret jointly with direction_cos and the direction validity rule. The pair (direction_sin,direction_cos)=(0,0) represents the SDK no-contact flag."
},
{
"index": 7,
"name": "palm_center.direction_cos",
"units": "dimensionless",
"description": "Cosine of the tangential-force direction angle; dimensionless. Interpret jointly with direction_sin and the direction validity rule. The pair (direction_sin,direction_cos)=(0,0) represents the SDK no-contact flag."
},
{
"index": 8,
"name": "palm_right.normal_force_div20",
"units": "force_in_newtons_divided_by_20",
"description": "Normal force in newtons divided by 20. Multiply by 20 for nominal newtons; no clipping is applied."
},
{
"index": 9,
"name": "palm_right.tangential_force_div20",
"units": "force_in_newtons_divided_by_20",
"description": "Tangential force in newtons divided by 20. Multiply by 20 for nominal newtons; no clipping is applied."
},
{
"index": 10,
"name": "palm_right.direction_sin",
"units": "dimensionless",
"description": "Sine of the tangential-force direction angle; dimensionless. Interpret jointly with direction_cos and the direction validity rule. The pair (direction_sin,direction_cos)=(0,0) represents the SDK no-contact flag."
},
{
"index": 11,
"name": "palm_right.direction_cos",
"units": "dimensionless",
"description": "Cosine of the tangential-force direction angle; dimensionless. Interpret jointly with direction_sin and the direction validity rule. The pair (direction_sin,direction_cos)=(0,0) represents the SDK no-contact flag."
}
]
}
},
"source_feature_order": [
"little.normal_force_div20",
"little.tangential_force_div20",
"little.direction_sin",
"little.direction_cos",
"little.proximity",
"ring.normal_force_div20",
"ring.tangential_force_div20",
"ring.direction_sin",
"ring.direction_cos",
"ring.proximity",
"middle.normal_force_div20",
"middle.tangential_force_div20",
"middle.direction_sin",
"middle.direction_cos",
"middle.proximity",
"index.normal_force_div20",
"index.tangential_force_div20",
"index.direction_sin",
"index.direction_cos",
"index.proximity",
"thumb.normal_force_div20",
"thumb.tangential_force_div20",
"thumb.direction_sin",
"thumb.direction_cos",
"thumb.proximity",
"palm_left.normal_force_div20",
"palm_left.tangential_force_div20",
"palm_left.direction_sin",
"palm_left.direction_cos",
"palm_center.normal_force_div20",
"palm_center.tangential_force_div20",
"palm_center.direction_sin",
"palm_center.direction_cos",
"palm_right.normal_force_div20",
"palm_right.tangential_force_div20",
"palm_right.direction_sin",
"palm_right.direction_cos"
],
"palm_alias_note": "palm_left, palm_center and palm_right are source SDK aliases; anatomical left/right placement is not verified.",
"direction_validity": {
"raw_register_sentinel": 65535,
"collector_sentinel": -1,
"processed_sentinel": [
0,
0
],
"processed_sentinel_order": [
"direction_sin",
"direction_cos"
],
"meaning": "(direction_sin,direction_cos)=(0,0) represents the SDK no-contact flag, encoded from raw direction 65535 (0xFFFF) through the HTD flag -1. It is not a valid angle. Force readings are preserved independently; the flag alone does not establish physical absence of contact.",
"zero_angle_pair": [
0,
1
],
"zero_angle_ambiguity": "Unavailable all-zero raw input can also produce (0,1); the pair alone does not establish measurement validity.",
"frame_note": "Physical angle-zero axis, rotation convention and bilateral mirroring are not calibrated for these recordings.",
"sdk_flag_name": "no-contact",
"observed_force_coexistence": {
"site_frame_pairs": 226,
"episodes": 28,
"nominal_normal_force_range_N": [
0.01,
1.1
],
"tangential_force_N": 0,
"interpretation": "All observed nonzero-force cases have zero tangential force, consistent with an undefined tangential-force direction. This does not independently establish actual contact or firmware thresholds.",
"historical_evidence": {
"document_identifier": "f1_direction_flag_force_review.json",
"sha256": "10e163a177137ab611b8c7ec4cc667772ef4313569acda19dacb548648cf44ae",
"availability": "Historical full-evidence document; not an operational file dependency of this organizer handoff."
},
"scope": "Historical audit of 28 recordings and 226 site-frame pairs with nonzero force alongside the SDK no-contact direction flag. These statistics describe that audit, not an exhaustive count over this 871-episode release."
}
}
}
}
},
"handoff_scope": "Self-contained descriptive note for all 871 exported episodes. Dataset-array paths identify keys inside each extracted Zarr. Historical evidence hashes identify earlier audits and are not required dependencies.",
"historical_document": {
"document_identifier": "sensor_descriptions.json",
"sha256": "6746f55a513333896f656285a9ac97b43054d72d3fc9dd7966bf106a93ee5932",
"availability": "Historical full-evidence document; not an operational file dependency of this organizer handoff."
}
}
|