Upload data/motherboard/meta/2026-05-10/episode_004.force.json with huggingface_hub

data/motherboard/meta/2026-05-10/episode_004.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_004.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": 2406,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_004_left.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 1361,
-      "no_contact_frac": 0.4343308395677473,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 1403,
+      "no_contact_frac": 0.4168744804655029,
       "is_new_frac": 0.286783042394015,
       "duplicate_rows_forward_filled": 1716,
-      "force_p50_n": 0.5799999833106995,
-      "force_p95_n": 4.072105407714844,
-      "force_max_n": 6.855000019073486,
-      "force_p50_contact_n": 1.7168420553207397,
-      "penetration_p50_mm": 0.5799999833106995,
-      "penetration_p95_mm": 4.072105407714844,
-      "penetration_max_mm": 6.855000019073486,
-      "gel_max_depth_p95_mm": 0.3965086340904236,
-      "gel_max_depth_max_mm": 0.5457176566123962,
+      "force_p50_n": 1.1662499904632568,
+      "force_p95_n": 4.3677778244018555,
+      "force_max_n": 7.869999885559082,
+      "force_p50_contact_n": 2.636666774749756,
+      "penetration_p50_mm": 0.5831249952316284,
+      "penetration_p95_mm": 2.1838889122009277,
+      "penetration_max_mm": 3.934999942779541,
+      "gel_max_depth_p95_mm": 0.5770630240440369,
+      "gel_max_depth_max_mm": 1.2534384727478027,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": -1.3411560883689548,
-        "v_dot_n_fall_mm": -0.47053868110346575,
-        "corr_dforce_vdotn": -0.011540506285743737,
-        "n_rise": 318,
-        "n_fall": 316
+        "v_dot_n_rise_mm": -1.2867537413876176,
+        "v_dot_n_fall_mm": -0.6577187948106586,
+        "corr_dforce_vdotn": -0.027609117419923508,
+        "n_rise": 377,
+        "n_fall": 412
       }
     },
     {
       "side": "right",
       "rows": 2406,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_004_right.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 2349,
-      "no_contact_frac": 0.023690773067331694,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 2403,
+      "no_contact_frac": 0.0012468827930174342,
       "is_new_frac": 0.2876142975893599,
       "duplicate_rows_forward_filled": 1714,
-      "force_p50_n": 1.7168420553207397,
-      "force_p95_n": 4.072105407714844,
-      "force_max_n": 5.780769348144531,
-      "force_p50_contact_n": 1.7168420553207397,
-      "penetration_p50_mm": 1.7168420553207397,
-      "penetration_p95_mm": 4.072105407714844,
-      "penetration_max_mm": 5.780769348144531,
-      "gel_max_depth_p95_mm": 0.6352519392967224,
-      "gel_max_depth_max_mm": 1.145114541053772,
+      "force_p50_n": 1.1662499904632568,
+      "force_p95_n": 4.285294055938721,
+      "force_max_n": 5.439090728759766,
+      "force_p50_contact_n": 1.1662499904632568,
+      "penetration_p50_mm": 0.5831249952316284,
+      "penetration_p95_mm": 2.1426470279693604,
+      "penetration_max_mm": 2.719545364379883,
+      "gel_max_depth_p95_mm": 1.0642808079719543,
+      "gel_max_depth_max_mm": 1.8097175359725952,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": -1.5250335397486472,
-        "v_dot_n_fall_mm": 0.27905813048139466,
-        "corr_dforce_vdotn": -0.03897592861296733,
-        "n_rise": 404,
-        "n_fall": 452
+        "v_dot_n_rise_mm": 1.7850098795861638,
+        "v_dot_n_fall_mm": -1.7479678463779726,
+        "corr_dforce_vdotn": 0.09774470163324255,
+        "n_rise": 389,
+        "n_fall": 421
       }
     }
   ],