Upload data/motherboard/meta/2026-05-10/episode_009.force.json with huggingface_hub

data/motherboard/meta/2026-05-10/episode_009.force.json

@@ -1,13 +1,13 @@
 {
   "generator": "twm.force_recovery.export_force_columns",
-  "stiffness_n_per_mm": 1.0,
+  "stiffness_n_per_mm": 2.0,
   "penetration": "penetration_mm = force_normal_n / stiffness_n_per_mm  (ASSUMED stiffness)",
   "press_direction": "R(q_row) @ gel_axis_in_rigid from calibration/*/T_gel_to_rigid_<side>.json",
   "no_contact_rule": "force == 0 -> penetration 0 and target_pose is a copy of sensor_<side>_pose",
   "duplicate_rows": "tactile_<side>_is_new == False rows reuse the previous estimate (forward fill, asserted exact)",
   "source_release": "/media/yxma/Disk1/twm/release/motherboard/meta/2026-05-10/episode_009.parquet",
   "force_calibration": [
-    "react_calib (stages + gain field + clip correction)"
+    "react_calib (calibration-free recon + gain field + clip correction)"
   ],
   "supersedes": "Exports before 2026-08-07 used a calibration that applied pixel-unit weights to mm-unit features (end-to-end rho 0.143, peak force 18.3 N). Those newton values are void; these come from react_calib (held-out rho 0.739, MAE 1.23 N, split by press position).",
   "task": "motherboard",
@@ -19,58 +19,58 @@
       "side": "left",
       "rows": 1823,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_009_left.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 647,
-      "no_contact_frac": 0.6450905101481075,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 658,
+      "no_contact_frac": 0.6390565002742732,
       "is_new_frac": 0.2868897421832145,
       "duplicate_rows_forward_filled": 1300,
       "force_p50_n": 0.0,
-      "force_p95_n": 5.920000076293945,
-      "force_max_n": 7.284999847412109,
-      "force_p50_contact_n": 3.003333330154419,
+      "force_p95_n": 5.259615421295166,
+      "force_max_n": 7.293181896209717,
+      "force_p50_contact_n": 2.636666774749756,
       "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 5.920000076293945,
-      "penetration_max_mm": 7.284999847412109,
+      "penetration_p95_mm": 2.629807710647583,
+      "penetration_max_mm": 3.6465909481048584,
       "gel_max_depth_p95_mm": 0.47364065051078796,
       "gel_max_depth_max_mm": 0.6254034042358398,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": -1.9733683206177777,
-        "v_dot_n_fall_mm": -0.9595756763554485,
-        "corr_dforce_vdotn": -0.05624389253976126,
-        "n_rise": 174,
-        "n_fall": 214
+        "v_dot_n_rise_mm": -0.3619862757017536,
+        "v_dot_n_fall_mm": -3.8302336448489163,
+        "corr_dforce_vdotn": 0.16293185226220944,
+        "n_rise": 166,
+        "n_fall": 191
       }
     },
     {
       "side": "right",
       "rows": 1823,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_009_right.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 907,
-      "no_contact_frac": 0.5024684585847504,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 1003,
+      "no_contact_frac": 0.44980800877674165,
       "is_new_frac": 0.2885353812397148,
       "duplicate_rows_forward_filled": 1297,
-      "force_p50_n": 0.0,
-      "force_p95_n": 4.767441749572754,
-      "force_max_n": 6.855000019073486,
-      "force_p50_contact_n": 3.003333330154419,
-      "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 4.767441749572754,
-      "penetration_max_mm": 6.855000019073486,
-      "gel_max_depth_p95_mm": 0.6014291048049927,
-      "gel_max_depth_max_mm": 0.9805727601051331,
+      "force_p50_n": 1.9833333492279053,
+      "force_p95_n": 7.293181896209717,
+      "force_max_n": 7.296801567077637,
+      "force_p50_contact_n": 4.285294055938721,
+      "penetration_p50_mm": 0.9916666746139526,
+      "penetration_p95_mm": 3.6465909481048584,
+      "penetration_max_mm": 3.6484007835388184,
+      "gel_max_depth_p95_mm": 0.9494932889938354,
+      "gel_max_depth_max_mm": 1.6886879205703735,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": 0.2966327166322239,
-        "v_dot_n_fall_mm": -0.5946707934987044,
-        "corr_dforce_vdotn": 0.0525052008135274,
-        "n_rise": 270,
-        "n_fall": 317
+        "v_dot_n_rise_mm": 3.5248126719680766,
+        "v_dot_n_fall_mm": -1.2996011724248033,
+        "corr_dforce_vdotn": 0.1680401243870166,
+        "n_rise": 257,
+        "n_fall": 306
       }
     }
   ],