传感器位置校准

shared/src/orisys_app_shared/record/experiment.py

@@ -77,6 +77,7 @@ FORCES_HEADER = (
     "FN_output_N",
     "FX_output_N",
     "FY_output_N",
+    "Fmag_raw",
 )
 FRAMES_HEADER = (
     "frame_id",
@@ -109,6 +110,14 @@ ROW_BACKLOG = 8192
 VIDEO_PACING_TOLERANCE = 0.5
 
 
+def raw_magnitude(fn: float, fx: float, fy: float) -> float:
+    """Magnitude of the three raw force components. Missing any one leaves it blank."""
+    values = (fn, fx, fy)
+    if not all(np.isfinite(value) for value in values):
+        return float("nan")
+    return float(np.sqrt(sum(value * value for value in values)))
+
+
 def format_value(value: float) -> str:
     """Full-precision CSV cell. ``NaN`` means "not available" and is left empty.
 
@@ -1142,6 +1151,7 @@ class _SessionWriter:
                 format_value(sample.fn_n_processed),
                 format_value(sample.fx_n_processed),
                 format_value(sample.fy_n_processed),
+                format_value(raw_magnitude(sample.fn_raw, sample.fx_raw, sample.fy_raw)),
             )
         )