Upload data/motherboard/meta/2026-05-10/episode_002.force.json with huggingface_hub

data/motherboard/meta/2026-05-10/episode_002.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_002.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": 10475,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_002_left.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 3510,
-      "no_contact_frac": 0.6649164677804296,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 3646,
+      "no_contact_frac": 0.6519331742243437,
       "is_new_frac": 0.28992840095465394,
       "duplicate_rows_forward_filled": 7438,
       "force_p50_n": 0.0,
-      "force_p95_n": 4.072105407714844,
-      "force_max_n": 7.284999847412109,
-      "force_p50_contact_n": 2.9116666316986084,
+      "force_p95_n": 5.145384788513184,
+      "force_max_n": 7.293181896209717,
+      "force_p50_contact_n": 2.9424359798431396,
       "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 4.072105407714844,
-      "penetration_max_mm": 7.284999847412109,
-      "gel_max_depth_p95_mm": 0.661491870880127,
-      "gel_max_depth_max_mm": 1.2656000852584839,
+      "penetration_p95_mm": 2.572692394256592,
+      "penetration_max_mm": 3.6465909481048584,
+      "gel_max_depth_p95_mm": 0.987415146827696,
+      "gel_max_depth_max_mm": 2.5124549865722656,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": 17.705881454687063,
-        "v_dot_n_fall_mm": 5.697220266581004,
-        "corr_dforce_vdotn": 0.23963304664849436,
-        "n_rise": 1153,
-        "n_fall": 1100
+        "v_dot_n_rise_mm": 17.353876757240776,
+        "v_dot_n_fall_mm": 7.143570223529609,
+        "corr_dforce_vdotn": 0.2914760563516624,
+        "n_rise": 1192,
+        "n_fall": 1124
       }
     },
     {
       "side": "right",
       "rows": 10475,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_002_right.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 2780,
-      "no_contact_frac": 0.7346062052505966,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 2829,
+      "no_contact_frac": 0.7299284009546539,
       "is_new_frac": 0.28878281622911695,
       "duplicate_rows_forward_filled": 7450,
       "force_p50_n": 0.0,
-      "force_p95_n": 4.072105407714844,
-      "force_max_n": 7.284999847412109,
-      "force_p50_contact_n": 3.003333330154419,
+      "force_p95_n": 5.259615421295166,
+      "force_max_n": 7.869999885559082,
+      "force_p50_contact_n": 2.9424359798431396,
       "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 4.072105407714844,
-      "penetration_max_mm": 7.284999847412109,
-      "gel_max_depth_p95_mm": 0.6609566807746887,
-      "gel_max_depth_max_mm": 1.4573582410812378,
+      "penetration_p95_mm": 2.629807710647583,
+      "penetration_max_mm": 3.934999942779541,
+      "gel_max_depth_p95_mm": 0.9458164691925007,
+      "gel_max_depth_max_mm": 2.131033182144165,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": 10.686446242656928,
-        "v_dot_n_fall_mm": -0.5373804417161775,
-        "corr_dforce_vdotn": 0.2927934777955239,
-        "n_rise": 1014,
-        "n_fall": 869
+        "v_dot_n_rise_mm": 10.64731797745946,
+        "v_dot_n_fall_mm": -0.5853754667810747,
+        "corr_dforce_vdotn": 0.28042243071430834,
+        "n_rise": 1005,
+        "n_fall": 880
       }
     }
   ],