Apply world-frame offset (dx, dy, dz) = (0.225, 0.0, 0.175) m to all 5 episodes of 2026-05-19 so all 32 episodes share one OptiTrack world frame. Per-episode _contact_meta.world_frame_offset_applied documents the bake. Segments, previews, tasks.json, segments.json refreshed.

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figures/episode_previews/index.md

@@ -345,7 +345,7 @@ _Direct link: [`episode_017.mp4`](https://huggingface.co/datasets/yxma/React/res
 
 ## 2026-05-19   ·  session   ·  left, right sensor(s)
 
-> Recorded with all 3 RealSense views and both GelSight sensors. Published with view_left / view_middle / view_right (multi-cam) in the per-episode .pt under `episodes/motherboard/2026-05-19/`. Failure detection was run with the reproducible `detect_bad_intervals.py` ruleset (matches the published bad_frames.json bit-identically on 25 of 27 prior episodes; the two edge cases are minor borderline events that do not affect segment quality). Bad intervals were sliced out to produce `segments/motherboard/2026-05-19/`.
+> Recorded with all 3 RealSense views and both GelSight sensors. OptiTrack world origin was redefined on 2026-05-19 relative to earlier sessions; an offset of (dx=0.225, dy=0.000, dz=0.175) m has been added to sensor_{left,right}_pose translation columns of every .pt (and to OT samples during preview rendering) so all 32 episodes share one world frame. See `_contact_meta.world_frame_offset_applied` in each 2026-05-19 .pt for the per-file record.
 
 <details>
 <summary><b>2026-05-19/episode_000</b>  &nbsp;&middot;&nbsp; 1,434 frames (47.8s) &nbsp;&middot;&nbsp; 1 segment</summary>

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tasks.json

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+          "note": "Recorded with all 3 RealSense views and both GelSight sensors. OptiTrack world origin was redefined on 2026-05-19 relative to earlier sessions; an offset of (dx=0.215, dy=0.000, dz=0.175) m has been added to sensor_{left,right}_pose translation columns of every .pt (and to OT samples during preview rendering) so all 32 episodes share one world frame. See `_contact_meta.world_frame_offset_applied` in each 2026-05-19 .pt for the per-file record.",
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