Visualization refactor (twm/viz.py single source); native 1280x480 + left|middle|right cam order; freeze_diagnose/ replaces freeze_check/ and freeze_classify/; finding: all freezes are recording-pipeline stalls

docs/curation_pipeline.md

@@ -4,21 +4,23 @@ The procedure below is what runs between a fresh recording session and a HF
 push. Follow it in order; each stage produces a checkable artifact, so a bad
 stage doesn't silently propagate downstream.
 
-Source files referenced. The first four live in the recording-machine
-`MultimodalData/twm/` checkout. The last three are the curation scripts
-produced for this dataset; they currently live in `/tmp/` (development
-scratchpad) and should be moved into `MultimodalData/twm/twm/scripts/` so
-they're versioned alongside the rest of the codebase.
+Source files referenced. The first five live in the recording-machine
+`MultimodalData/twm/` checkout. The rest are the curation scripts produced
+for this dataset; they currently live in `/tmp/` (development scratchpad)
+and should be moved into `MultimodalData/twm/twm/scripts/` so they're
+versioned alongside the rest of the codebase.
 
-| Script | Current location | Future home |
+| Script | Current location | Notes |
 |---|---|---|
-| `data_collection.py` | `MultimodalData/twm/` | (already in repo) |
-| `compress_h5.py` | `MultimodalData/twm/` | (already in repo) |
-| `visualize.py` | `MultimodalData/twm/` | (already in repo; projection overlay on by default, `--no_projection` to disable) |
-| `twm.contact_index` | `MultimodalData/twm/twm/` | (already in repo) |
-| `make_episode_gifs_v3.py` | `/tmp/` | `MultimodalData/twm/twm/scripts/` |
-| `freeze_cut_report.py` | `/tmp/` | `MultimodalData/twm/twm/scripts/` |
-| `inspect_short_freezes.py` | `/tmp/` | `MultimodalData/twm/twm/scripts/` |
+| `viz.py` | `MultimodalData/twm/` | **Single source of truth for visualization.** Owns the 1280×480 panel builder (left → middle → right cam ordering), projection overlay, OptiTrack helpers, calibration loading, adaptive-shrink GIF encoder. Every other visualization script in the repo imports from here. |
+| `data_collection.py` | `MultimodalData/twm/` | Recording loop. `make_preview` is now a re-export of `twm.viz.build_preview_panel`. |
+| `compress_h5.py` | `MultimodalData/twm/` | BLOSC → GZIP+shuffle. |
+| `visualize.py` | `MultimodalData/twm/` | Interactive replay viewer / MP4 export. Projection overlay on by default, `--no_projection` to disable. Delegates panel + overlay to `twm.viz`. |
+| `twm.contact_index` | `MultimodalData/twm/twm/` | Tactile contact metrics → `.pt` files. |
+| `make_episode_gifs_v3.py` | `/tmp/` | Per-episode HF preview GIFs (canonical viewer layout). |
+| `freeze_diagnose.py` | `/tmp/` | Augmented freeze detector: cross-modal motion + frame-duplicate + OT-gap + rotation/translation teleport. Classifies each freeze into `pipeline_stall` / `ot_dropout` / `ot_teleport` / `real_still`. |
+| `inspect_freezes_v3.py` | `/tmp/` | Helper layer used by `freeze_diagnose.py` — schedules clips per freeze event, renders them via `twm.viz`. |
+| `freeze_cut_report.py` | `/tmp/` | Per-threshold tally of frozen-pose frames (no clip rendering). |
 
 The pipeline assumes the standard layout:
 
@@ -173,35 +175,48 @@ episode, with a 3-frame buffer on each side.
 Per-frame OT velocity > 5 m/s → impossible motion → marker swap or brief
 solver glitch. Stored as `pose_teleports_L` / `pose_teleports_R`.
 
-### 5C. OptiTrack freezes (long held poses)
+### 5C. Pose freezes — disambiguated by cross-modal motion
 
 A sensor whose 7-vec pose is bitwise-identical across consecutive frames
-for ≥ 1 s while that sensor is **active** for the date is treated as a
-tracking loss. Threshold sweep at 1/2/5/10/30 s historically shows
-near-identical totals (≈13 % of frames at any threshold ≥1 s), so 1 s is
-the safe default. The cut intervals are written to `freeze_intervals.json`
-and merged into `bad_frames.json`.
-
-Today the three detectors live in separate one-off scripts:
+for ≥ 0.25 s **on an active sensor** is a freeze candidate. Each candidate
+is then diagnosed by combining:
+- max translation velocity in the OT stream within ±1 s
+- max angular velocity in the same window (catches solver flips that the
+  old 5 m/s translation-only check missed)
+- max OT timestamp gap during the interval
+- per-stream consecutive-frame duplicate fraction (cam0/1/2 + affected GS)
+
+Each event is then labelled as `pipeline_stall` (≥ 30 % frame duplication
+on any stream — recorder genuinely stuck), `ot_dropout` (OT timestamp gap
+≥ 100 ms), `ot_teleport` (solver glitch — > 5 m/s translation or > 15 rad/s
+angular), `real_still` (all signals quiet — operator paused), or `ambiguous`.
+
+Empirically across the bimanual set, **every freeze event in this dataset
+classifies as `pipeline_stall`** — the GelSight stream duplicates 53–86 %
+of its frames while RealSense keeps going. So the right cut is "drop any
+window overlapping a pipeline_stall interval"; this is materially
+different from a benign "operator at rest" interpretation.
+
+Current scripts:
 - intensity spikes + pose teleports: the original detector that produced
-  the current `bad_frames.json`. To re-run incrementally, regenerate the
-  whole file from all `.pt` files; the script is not yet packaged but
-  follows the formula above.
-- pose freezes: `/tmp/freeze_cut_report.py` (per-episode + per-threshold
-  totals across the whole task). For the per-interval list used by the
-  dataloader, run the unmerged-intervals path in
-  `/tmp/inspect_short_freezes.py`.
-
-**To do — consolidation.** These three detectors should be merged into a
-single `scripts/detect_failures.py` that:
+  the current `bad_frames.json` (translation-velocity only; **rotation
+  teleports are now caught in 5C via `freeze_diagnose.py`'s angular
+  velocity check** but should be folded into the main `bad_frames.json`
+  pipeline.)
+- pose freezes: `/tmp/freeze_diagnose.py` (cross-modal classifier;
+  outputs per-event verdicts + per-class sample clips). Also see
+  `/tmp/freeze_cut_report.py` for per-threshold totals across the task.
+
+**To do — consolidation.** These detectors should be merged into a single
+`scripts/detect_failures.py` that:
 1. iterates `.pt` files under a `--pt_root`,
-2. applies all three detectors,
+2. applies all three detectors (with rotation-aware teleport check),
 3. writes the union to `bad_frames.json` and a richer per-mode breakdown
    to `freeze_intervals.json` and `data_quality_breakdown.json`,
 4. emits the per-episode `data_quality_report.csv`.
 
-Until that exists, the procedure is: re-run each of the three current
-scripts in turn and merge their outputs by hand into `bad_frames.json`.
+Until that exists, the procedure is: re-run each current script in turn
+and merge their outputs by hand into `bad_frames.json`.
 
 ---
 

figures/dataset_figures/freeze_check/summary.json

@@ -1,497 +0,0 @@
-[
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