File size: 8,468 Bytes
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"what": "Episode preview clips: 3 RealSense views with OptiTrack projection, both GelSight tiles, and a semi-transparent disc whose AREA is linear in estimated normal force.",
"force_overlay": {
"drawn_on": "the three camera views, centred on that sensor's OptiTrack pose projected into each view \u2014 the same projection that draws the pose axes, so the disc and the axes cannot disagree about where the sensor is",
"encoding": "area proportional to force; radius = 3.0 + 19.0 * sqrt(F / 8.0 N), saturating at 8.0 N",
"alpha": 0.42,
"legend_in_frame": "0.5 / 2 / 8 N, drawn with the same law",
"no_dot_below_n": 0.02,
"note": "Force is estimated from the GelSight images alone (no force sensor on this rig); see https://huggingface.co/spaces/yxma/react-force-recovery",
"calibration": [
"react_calib (stages + gain field + clip correction)"
],
"supersedes": "Clips uploaded before 2026-08-07 carry (a) a dot pinned to the GelSight tile corner and (b) forces from a calibration that mixed pixel-unit weights with mm-unit features (end-to-end rho 0.143). Motherboard clips additionally used pushT's June-26 camera extrinsics instead of the May-12 epoch (35-73 px projection error), and 2026-05-19 missed its (0.23, 0, 0.175) m world-frame offset. All replaced; each frame's status bar now names the epoch and offset it was projected with."
},
"tasks": [
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],
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"clips_without_force_overlay": 0,
"why_some_have_no_dot": "every clip has force data",
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