Upload data/pushT/meta/2026-06-18/episode_003.force.json with huggingface_hub

data/pushT/meta/2026-06-18/episode_003.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/pushT/meta/2026-06-18/episode_003.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": "pushT",
+  "date": "2026-06-18",
+  "episode": "episode_003",
+  "rows": 14566,
+  "sides": [
+    {
+      "side": "left",
+      "rows": 14566,
+      "npz": "/media/yxma/Disk1/twm/force_recovery/pushT/2026-06-18/episode_003_left.npz",
+      "force_calibration": "react_calib (stages + gain field + clip correction)",
+      "pipeline_version": 4,
+      "n_contact_rows": 2828,
+      "no_contact_frac": 0.8058492379513936,
+      "is_new_frac": 0.27605382397363726,
+      "duplicate_rows_forward_filled": 10545,
+      "force_p50_n": 0.0,
+      "force_p95_n": 4.072105407714844,
+      "force_max_n": 7.284999847412109,
+      "force_p50_contact_n": 3.003333330154419,
+      "penetration_p50_mm": 0.0,
+      "penetration_p95_mm": 4.072105407714844,
+      "penetration_max_mm": 7.284999847412109,
+      "gel_max_depth_p95_mm": 0.27367889881134033,
+      "gel_max_depth_max_mm": 0.8773196339607239,
+      "identity_max_abs_dev": 0.0,
+      "direction": {
+        "usable": true,
+        "v_dot_n_rise_mm": 4.349504427417864,
+        "v_dot_n_fall_mm": -0.7671039367404634,
+        "corr_dforce_vdotn": 0.1490277051520986,
+        "n_rise": 885,
+        "n_fall": 880
+      }
+    },
+    {
+      "side": "right",
+      "rows": 14566,
+      "npz": "/media/yxma/Disk1/twm/force_recovery/pushT/2026-06-18/episode_003_right.npz",
+      "force_calibration": "react_calib (stages + gain field + clip correction)",
+      "pipeline_version": 4,
+      "n_contact_rows": 3766,
+      "no_contact_frac": 0.7414526980639846,
+      "is_new_frac": 0.27907455718797197,
+      "duplicate_rows_forward_filled": 10501,
+      "force_p50_n": 0.0,
+      "force_p95_n": 4.072105407714844,
+      "force_max_n": 7.284999847412109,
+      "force_p50_contact_n": 2.805000066757202,
+      "penetration_p50_mm": 0.0,
+      "penetration_p95_mm": 4.072105407714844,
+      "penetration_max_mm": 7.284999847412109,
+      "gel_max_depth_p95_mm": 0.45879867672920227,
+      "gel_max_depth_max_mm": 1.1073323488235474,
+      "identity_max_abs_dev": 0.0,
+      "direction": {
+        "usable": true,
+        "v_dot_n_rise_mm": 8.589220121274808,
+        "v_dot_n_fall_mm": -1.551999303322147,
+        "corr_dforce_vdotn": 0.2834308765549898,
+        "n_rise": 1260,
+        "n_fall": 1234
+      }
+    }
+  ],
+  "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"
+  ]
+}