Upload data/motherboard/meta/2026-05-10/episode_007.force.json with huggingface_hub

data/motherboard/meta/2026-05-10/episode_007.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_007.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": 1927,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_007_left.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 761,
-      "no_contact_frac": 0.6050856253243384,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 786,
+      "no_contact_frac": 0.5921120913336793,
       "is_new_frac": 0.2885313959522574,
       "duplicate_rows_forward_filled": 1371,
       "force_p50_n": 0.0,
-      "force_p95_n": 3.003333330154419,
-      "force_max_n": 5.780769348144531,
-      "force_p50_contact_n": 1.7168420553207397,
+      "force_p95_n": 1.8337327241897583,
+      "force_max_n": 4.285294055938721,
+      "force_p50_contact_n": 1.1662499904632568,
       "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 3.003333330154419,
-      "penetration_max_mm": 5.780769348144531,
+      "penetration_p95_mm": 0.9168663620948792,
+      "penetration_max_mm": 2.1426470279693604,
       "gel_max_depth_p95_mm": 0.3441507816314697,
-      "gel_max_depth_max_mm": 0.5599904656410217,
+      "gel_max_depth_max_mm": 0.5599905252456665,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": 1.6076936046107893,
-        "v_dot_n_fall_mm": -0.9244434178626275,
-        "corr_dforce_vdotn": 0.301582487682388,
-        "n_rise": 187,
-        "n_fall": 221
+        "v_dot_n_rise_mm": 0.5628781606722807,
+        "v_dot_n_fall_mm": -3.5922906355761044,
+        "corr_dforce_vdotn": 0.2994784658732454,
+        "n_rise": 124,
+        "n_fall": 115
       }
     },
     {
       "side": "right",
       "rows": 1927,
       "npz": "/media/yxma/Disk1/twm/force_recovery/motherboard/2026-05-10/episode_007_right.npz",
-      "force_calibration": "react_calib (stages + gain field + clip correction)",
-      "pipeline_version": 4,
-      "n_contact_rows": 871,
-      "no_contact_frac": 0.5480020757654385,
+      "force_calibration": "react_calib (calibration-free recon + gain field + clip correction)",
+      "pipeline_version": 5,
+      "n_contact_rows": 904,
+      "no_contact_frac": 0.5308770108977685,
       "is_new_frac": 0.2885313959522574,
       "duplicate_rows_forward_filled": 1371,
       "force_p50_n": 0.0,
-      "force_p95_n": 4.072105407714844,
-      "force_max_n": 5.780769348144531,
-      "force_p50_contact_n": 1.5513241291046143,
+      "force_p95_n": 2.9424359798431396,
+      "force_max_n": 5.259615421295166,
+      "force_p50_contact_n": 1.3164957761764526,
       "penetration_p50_mm": 0.0,
-      "penetration_p95_mm": 4.072105407714844,
-      "penetration_max_mm": 5.780769348144531,
-      "gel_max_depth_p95_mm": 0.5123122334480286,
-      "gel_max_depth_max_mm": 0.6774391531944275,
+      "penetration_p95_mm": 1.4712179899215698,
+      "penetration_max_mm": 2.629807710647583,
+      "gel_max_depth_p95_mm": 0.546734631061554,
+      "gel_max_depth_max_mm": 1.8785083293914795,
       "identity_max_abs_dev": 0.0,
       "direction": {
         "usable": true,
-        "v_dot_n_rise_mm": 0.8464027572618612,
-        "v_dot_n_fall_mm": 0.1596673311677084,
-        "corr_dforce_vdotn": 0.06633961773577707,
-        "n_rise": 198,
-        "n_fall": 224
+        "v_dot_n_rise_mm": 1.8653679186254646,
+        "v_dot_n_fall_mm": 0.42932902116340316,
+        "corr_dforce_vdotn": 0.07368922796757243,
+        "n_rise": 193,
+        "n_fall": 254
       }
     }
   ],