Upload data/motherboard/meta/2026-05-19/episode_004.force.json with huggingface_hub

data/motherboard/meta/2026-05-19/episode_004.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/2026-05-19/episode_004.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": "2026-05-19",
+  "episode": "episode_004",
+  "rows": 209,
+  "sides": [
+    {
+      "side": "left",
+      "rows": 209,
+      "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-19/episode_004_left.npz",
+      "force_calibration": "react_calib (stages + gain field + clip correction)",
+      "pipeline_version": 4,
+      "n_contact_rows": 209,
+      "no_contact_frac": 0.0,
+      "is_new_frac": 0.1674641148325359,
+      "duplicate_rows_forward_filled": 174,
+      "force_p50_n": 3.003333330154419,
+      "force_p95_n": 6.847090625762939,
+      "force_max_n": 6.855000019073486,
+      "force_p50_contact_n": 3.003333330154419,
+      "penetration_p50_mm": 3.003333330154419,
+      "penetration_p95_mm": 6.847090625762939,
+      "penetration_max_mm": 6.855000019073486,
+      "gel_max_depth_p95_mm": 0.8982489705085754,
+      "gel_max_depth_max_mm": 0.8982489705085754,
+      "identity_max_abs_dev": 0.0,
+      "direction": {
+        "usable": true,
+        "v_dot_n_rise_mm": 0.5870832910034788,
+        "v_dot_n_fall_mm": -5.161144823628445,
+        "corr_dforce_vdotn": 0.01680320620282611,
+        "n_rise": 48,
+        "n_fall": 34
+      }
+    },
+    {
+      "side": "right",
+      "rows": 209,
+      "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-19/episode_004_right.npz",
+      "force_calibration": "react_calib (stages + gain field + clip correction)",
+      "pipeline_version": 4,
+      "n_contact_rows": 111,
+      "no_contact_frac": 0.4688995215311005,
+      "is_new_frac": 0.19617224880382775,
+      "duplicate_rows_forward_filled": 168,
+      "force_p50_n": 2.826262950897217,
+      "force_p95_n": 6.855000019073486,
+      "force_max_n": 6.855000019073486,
+      "force_p50_contact_n": 4.072105407714844,
+      "penetration_p50_mm": 2.826262950897217,
+      "penetration_p95_mm": 6.855000019073486,
+      "penetration_max_mm": 6.855000019073486,
+      "gel_max_depth_p95_mm": 0.7596864104270935,
+      "gel_max_depth_max_mm": 0.8197481632232666,
+      "identity_max_abs_dev": 0.0,
+      "direction": {
+        "usable": false
+      }
+    }
+  ],
+  "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"
+  ]
+}