mertalbaba/UnifoLM-WBT-Hand-MEAS

⚠ DEPRECATED — DO NOT CONSUME

Superseded by UnifoLM-WBT-Hand-MEAS-v2 (2026-09-11).

Two defects, both verified by value against the hardware driver deploy/real/common/inspire_modbus.py:

1. Inspire polarity was inverted. In the raw stream a HIGH value means OPEN — the driver states "0 = CLOSED, 1000 = OPEN" and applies q = LIMIT*(1 - r/1000) to all six registers. This root scaled the raw value directly onto the joint range, so every resting open hand was encoded as a fist, across all 1500 inspire episodes. brainco and dex1 are unaffected and are byte-identical in the successor root.
2. The four finger slots were reversed. INSPIRE_TO_ENC was [5,4,0,1,2,3]; the driver's CODEC_FROM_MODBUS is [5,4,3,2,1,0]. The thumb slots happened to agree, which is why this survived review.

⚠ The distinct-token fraction does NOT detect either defect on UnifoLM: the raw commanded stream is only 0.015–0.04 distinct (a handful of grip setpoints), so the defective and fixed roots share the same 0.171 median. Use the recompute-exact protocol in explore/verify_unifolm_hand_v3.py instead.