Upload data/motherboard/meta/2026-05-10/episode_008.force.json with huggingface_hub

data/motherboard/meta/2026-05-10/episode_008.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_008.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": 1305,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_008_left.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 429,
-      "no_contact_frac": 0.6712643678160919,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 479,
+      "no_contact_frac": 0.6329501915708813,
       "is_new_frac": 0.28812260536398465,
       "duplicate_rows_forward_filled": 929,
       "force_p50_n": 0.0,
-      "force_p95_n": 4.072105407714844,
-      "force_max_n": 4.767441749572754,
-      "force_p50_contact_n": 1.7168420553207397,
+      "force_p95_n": 2.9424359798431396,
+      "force_max_n": 4.285294055938721,
+      "force_p50_contact_n": 1.1733332872390747,
       "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 4.072105407714844,
-      "penetration_max_mm": 4.767441749572754,
-      "gel_max_depth_p95_mm": 0.2548549473285675,
+      "penetration_p95_mm": 1.4712179899215698,
+      "penetration_max_mm": 2.1426470279693604,
+      "gel_max_depth_p95_mm": 0.2548549771308899,
       "gel_max_depth_max_mm": 0.44544389843940735,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": -0.007721491892326174,
-        "v_dot_n_fall_mm": -0.573135653189957,
-        "corr_dforce_vdotn": 0.13928951371483186,
-        "n_rise": 120,
-        "n_fall": 131
+        "v_dot_n_rise_mm": -0.11750949234040559,
+        "v_dot_n_fall_mm": -2.0572285573541236,
+        "corr_dforce_vdotn": 0.19195093569878122,
+        "n_rise": 97,
+        "n_fall": 97
       }
     },
     {
       "side": "right",
       "rows": 1305,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_008_right.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 532,
-      "no_contact_frac": 0.5923371647509579,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 549,
+      "no_contact_frac": 0.5793103448275863,
       "is_new_frac": 0.28888888888888886,
       "duplicate_rows_forward_filled": 928,
       "force_p50_n": 0.0,
-      "force_p95_n": 4.072105407714844,
-      "force_max_n": 5.920000076293945,
-      "force_p50_contact_n": 1.7168420553207397,
+      "force_p95_n": 2.9424359798431396,
+      "force_max_n": 5.145384788513184,
+      "force_p50_contact_n": 1.9833333492279053,
       "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 4.072105407714844,
-      "penetration_max_mm": 5.920000076293945,
-      "gel_max_depth_p95_mm": 0.665925145149231,
-      "gel_max_depth_max_mm": 0.9241770505905151,
+      "penetration_p95_mm": 1.4712179899215698,
+      "penetration_max_mm": 2.572692394256592,
+      "gel_max_depth_p95_mm": 0.7754240036010742,
+      "gel_max_depth_max_mm": 1.202385425567627,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": 2.3359936371356,
-        "v_dot_n_fall_mm": 2.8806553605295426,
-        "corr_dforce_vdotn": -0.01475265711679902,
-        "n_rise": 150,
-        "n_fall": 134
+        "v_dot_n_rise_mm": 3.3012905844087608,
+        "v_dot_n_fall_mm": 0.47521478549087154,
+        "corr_dforce_vdotn": 0.06818453181709395,
+        "n_rise": 141,
+        "n_fall": 140
       }
     }
   ],