Upload data/motherboard/meta/2026-05-10/episode_000.force.json with huggingface_hub

data/motherboard/meta/2026-05-10/episode_000.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_000.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": 6890,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_000_left.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 3266,
-      "no_contact_frac": 0.5259796806966619,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 3449,
+      "no_contact_frac": 0.49941944847605224,
       "is_new_frac": 0.29172714078374457,
       "duplicate_rows_forward_filled": 4880,
-      "force_p50_n": 0.0,
-      "force_p95_n": 5.272857189178467,
-      "force_max_n": 7.284999847412109,
-      "force_p50_contact_n": 4.072105407714844,
-      "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 5.272857189178467,
-      "penetration_max_mm": 7.284999847412109,
-      "gel_max_depth_p95_mm": 0.7861141741275784,
-      "gel_max_depth_max_mm": 1.2744585275650024,
+      "force_p50_n": 0.1599999964237213,
+      "force_p95_n": 5.439090728759766,
+      "force_max_n": 7.869999885559082,
+      "force_p50_contact_n": 2.9424359798431396,
+      "penetration_p50_mm": 0.07999999821186066,
+      "penetration_p95_mm": 2.719545364379883,
+      "penetration_max_mm": 3.934999942779541,
+      "gel_max_depth_p95_mm": 1.1528993844985962,
+      "gel_max_depth_max_mm": 3.2966456413269043,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": 9.54855851163033,
-        "v_dot_n_fall_mm": 6.739290831620701,
-        "corr_dforce_vdotn": 0.10691265760349526,
-        "n_rise": 1033,
-        "n_fall": 999
+        "v_dot_n_rise_mm": 11.118331028141657,
+        "v_dot_n_fall_mm": 6.334113275498796,
+        "corr_dforce_vdotn": 0.13065559235778595,
+        "n_rise": 1032,
+        "n_fall": 995
       }
     },
     {
       "side": "right",
       "rows": 6890,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_000_right.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 1998,
-      "no_contact_frac": 0.7100145137880987,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 2005,
+      "no_contact_frac": 0.70899854862119,
       "is_new_frac": 0.2912917271407837,
       "duplicate_rows_forward_filled": 4883,
       "force_p50_n": 0.0,
-      "force_p95_n": 4.072105407714844,
-      "force_max_n": 6.855000019073486,
-      "force_p50_contact_n": 3.003333330154419,
+      "force_p95_n": 4.285294055938721,
+      "force_max_n": 7.293181896209717,
+      "force_p50_contact_n": 2.916191339492798,
       "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 4.072105407714844,
-      "penetration_max_mm": 6.855000019073486,
-      "gel_max_depth_p95_mm": 0.6645781397819519,
-      "gel_max_depth_max_mm": 1.643061876296997,
+      "penetration_p95_mm": 2.1426470279693604,
+      "penetration_max_mm": 3.6465909481048584,
+      "gel_max_depth_p95_mm": 0.8666991591453552,
+      "gel_max_depth_max_mm": 2.8340556621551514,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": 5.811471540612262,
-        "v_dot_n_fall_mm": -1.3156620919153703,
-        "corr_dforce_vdotn": 0.24968618531461853,
-        "n_rise": 716,
-        "n_fall": 649
+        "v_dot_n_rise_mm": 7.461847801632934,
+        "v_dot_n_fall_mm": -0.8108836680424087,
+        "corr_dforce_vdotn": 0.23936720478559526,
+        "n_rise": 628,
+        "n_fall": 635
       }
     }
   ],