Table 1.

Simulation parameters.

Symbol	Value	Description
$\nu$	0.4999	Poisson’s ratio
E	0.1 MPa	Young’s modulus
f	256 pixels	Focal length
d	20 mm	z-coordinate of the camera optical center
$N_{\mathrm{f}}$	1000	Number of drawn force samples
$N_{\mathrm{c}}$	1000	Number of drawn configurations for each class