Upload data/motherboard/meta/2026-05-10/episode_008.force.json with huggingface_hub

data/motherboard/meta/2026-05-10/episode_008.force.json

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+{
+  "generator": "twm.force_recovery.export_force_columns",
+  "stiffness_n_per_mm": 1.0,
+  "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_008.parquet",
+  "force_calibration": [
+    "react_calib (stages + 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",
+  "date": "2026-05-10",
+  "episode": "episode_008",
+  "rows": 1305,
+  "sides": [
+    {
+      "side": "left",
+      "rows": 1305,
+      "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_008_left.npz",
+      "force_calibration": "react_calib (stages + gain field + clip correction)",
+      "pipeline_version": 4,
+      "n_contact_rows": 429,
+      "no_contact_frac": 0.6712643678160919,
+      "is_new_frac": 0.28812260536398465,
+      "duplicate_rows_forward_filled": 929,
+      "force_p50_n": 0.0,
+      "force_p95_n": 4.072105407714844,
+      "force_max_n": 4.767441749572754,
+      "force_p50_contact_n": 1.7168420553207397,
+      "penetration_p50_mm": 0.0,
+      "penetration_p95_mm": 4.072105407714844,
+      "penetration_max_mm": 4.767441749572754,
+      "gel_max_depth_p95_mm": 0.2548549473285675,
+      "gel_max_depth_max_mm": 0.44544389843940735,
+      "identity_max_abs_dev": 0.0,
+      "direction": {
+        "usable": true,
+        "v_dot_n_rise_mm": -0.007721491892326174,
+        "v_dot_n_fall_mm": -0.573135653189957,
+        "corr_dforce_vdotn": 0.13928951371483186,
+        "n_rise": 120,
+        "n_fall": 131
+      }
+    },
+    {
+      "side": "right",
+      "rows": 1305,
+      "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_008_right.npz",
+      "force_calibration": "react_calib (stages + gain field + clip correction)",
+      "pipeline_version": 4,
+      "n_contact_rows": 532,
+      "no_contact_frac": 0.5923371647509579,
+      "is_new_frac": 0.28888888888888886,
+      "duplicate_rows_forward_filled": 928,
+      "force_p50_n": 0.0,
+      "force_p95_n": 4.072105407714844,
+      "force_max_n": 5.920000076293945,
+      "force_p50_contact_n": 1.7168420553207397,
+      "penetration_p50_mm": 0.0,
+      "penetration_p95_mm": 4.072105407714844,
+      "penetration_max_mm": 5.920000076293945,
+      "gel_max_depth_p95_mm": 0.665925145149231,
+      "gel_max_depth_max_mm": 0.9241770505905151,
+      "identity_max_abs_dev": 0.0,
+      "direction": {
+        "usable": true,
+        "v_dot_n_rise_mm": 2.3359936371356,
+        "v_dot_n_fall_mm": 2.8806553605295426,
+        "corr_dforce_vdotn": -0.01475265711679902,
+        "n_rise": 150,
+        "n_fall": 134
+      }
+    }
+  ],
+  "columns": [
+    "force_left_normal_n",
+    "force_left_penetration_mm",
+    "force_left_target_pose",
+    "force_right_normal_n",
+    "force_right_penetration_mm",
+    "force_right_target_pose"
+  ]
+}