Correct world-frame offset metadata: locked-in value is (0.230, 0.000, 0.175) m for 2026-05-19 (previous commit message mis-stated 0.225 due to a hardcoded string; actual data was 0.230).

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.

Iterate offset on ep_000: (dx,dz)=(+0.230,+0.175).

Iterate offset on ep_000 (1434 frames): (dx,dz)=(+0.225,+0.175).

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.

Re-render all 32 episode previews with the new visual recipe: (1) first 30s of post-trim data played at 2x speed (15s output, real motion visible). (2) 2x-supersampled overlay -> effective 1.5-px axis lines + inner/outer dot r=2/3 (was 5/6). (3) 2026-05-19 has world-frame offset (dx,dy,dz)=(+0.225,0,+0.175) m applied to OT poses so projection markers align with sensors (new session used a shifted OptiTrack origin). 2026-05-10/11 rendered without offset (original world frame).

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.

Test: ep_004 (0.22,0.18) overlay rendered at 2x supersample (1.5-px lines, r=2/3 dot).

Test: ep_004 (dx,dz)=(+0.22,+0.18) with thinner axis lines (2 -> 1).

Test: ep_004 (dx,dz)=(+0.22,+0.18) with smaller projection dots.

Test: ep_004 (dx,dz)=(+0.22,+0.18).

Test: 2026-05-19/episode_004 with (dx,dz)=(+0.2,+0.2).

Test: 2026-05-19/episode_004 with corrected (dx,dz)=(+0.45,+0.45) offset (prior render was a no-op due to tuple-vs-dict bug).

Test: 2026-05-19/episode_004 preview with (dx, dz) = (+0.45, +0.45) m offset on OT poses.

Test: 2026-05-19/episode_004 preview with (dx, dy) = (+0.3, +0.3) m world-frame offset applied to OT poses, to verify projection alignment.

Fix preview picker: use <video controls> instead of markdown image syntax (which HF renders as <img> -> broken MP4).

Regenerate 2026-05-10 + 2026-05-11 episode previews with the same recipe used for 2026-05-19: 60 frames evenly sampled, 15 fps, raw H5 -> ffmpeg yuv444p (no GIF palette quantization, no 5x speedup). Previous previews were dim and ultra-fast (14 frames at 16.7 fps, palette-quantized). New ones are brighter and play at a readable pace -- consistent across all 32 episodes.

README: link to figures/episode_previews/index.md (per-episode preview picker).

Add figures/episode_previews/index.md — collapsible per-episode preview picker.

Add 2026-05-19 episode previews; drop stale 2026-03-23 + 2026-05-15 previews (excluded sessions).

Wave 2: multi-cam migration complete for 2026-05-10 + 2026-05-11. All 32 episodes now ship under episodes/ and segments/ with view_left / view_middle / view_right + tactile_{left,right}. Legacy processed/mode1_v1/ and processed/mode2_v1/ removed.

Publish 2026-05-19 session + introduce multi-cam schema (view_left/middle/right). 5 episodes + segments; bad_frames + tasks + README + schema doc updated. Multi-cam rollout for 2026-05-10/11 still in progress (legacy mode1_v1/mode2_v1 paths remain valid until that wave finishes).

examples/play_react_pt.py: accept episode-stem paths. You can now pass .../2026-05-11/episode_005 (no .pt suffix) and the player resolves all matching segments, loads the parent date folder so N/P navigation still works, and seeks to that episode on start.

docs/curation_pipeline.md: point at MultimodalData/twm/scripts/ now that one-shot scripts have been migrated out of /tmp/ into a versioned home.

examples/play_react_pt.py: episode-aware viewer. Accepts a directory of segments — all same-episode segments concatenate into one playback timeline; N/P switches between episodes. Red border + red trail-plot mark on segment-boundary frames. Also supports --save_video_dir for per-episode batch MP4 export.

examples/play_react_pt.py: interactive .pt viewer (same key bindings as twm.visualize, adapted to the downsampled .pt content). Supports both mode1_v1 episodes and mode2_v1 segments. Self-contained (numpy + torch + cv2). Headless MP4 export via --save_video.

Add mode2_v1 schema — 73 pre-sliced clean segments from 27 source episodes (104.7 min, bad intervals excluded by construction). New ReactSegmentDataset + demo. No bad_frames.json filtering needed at the dataloader; data is constructively clean. mode1_v1 stays for backward compatibility. See segments.json + new README section.

ReactWindowDataset: prominent contact-rich window count + stats attribute (ds.stats) + per-filter rejection breakdown in the summary print. Demo: write H.264 MP4 per picked window (was just static PNG); --no_mp4 to skip; --mp4_fps to tune.

Re-render 15 real_still candidates with the new per-episode p01 GelSight reference (the .gs_ref_{left,right}.png files just shipped). Diff thumbnails now show absolute contact intensity vs the quietest moment of the episode, not change-since-clip-start.

Add per-episode GelSight reference images: episode_NNN.gs_ref_{left,right}.png = the 1st-percentile-intensity frame at native 640×480 (the 'quietest' / least-contacted moment of the episode). Use these as the diff baseline in any visualization — gives a stable 'this is what's currently pressing on the gel' diff rather than 'change since the start of this clip'. 27 episodes × 2 sides = 54 files.

real_still: render ALL 15 candidates with relaxed thresholds (pose<=20mm/s, win=60, view<2.5); 1x playback, 2s window+1s pad each side. candidates.json lists per-event motion stats.

real_still: re-render at 3s window length + 1x (real-time) playback; drop the previous 5x 2s versions. Only 1 candidate meets the strict 3-second still criteria (operator was actively manipulating almost the entire 106 minutes).

Add real_still candidate clips for verification: only 2 windows in the whole dataset meet the strict still criteria (pose<=10mm/s, cam2<2, tac<3) — telling us the operators are actively manipulating almost the entire time. Manifest in candidates.json.

freeze_diagnose threshold: TAU_VIEW_STILL 4.0 -> 2.0 (more aggressive "is the scene really still?" check). Verdicts unchanged for current 41 events because they all trigger ot_loss via other signals.

Drop 11 stale ot_loss MP4s from the pre-opt_gap-fix run (their bad_frames intervals are still valid but the verdict-label numerics in the filename matched the buggy 47-event sampling, not the corrected 41-event sampling).

freeze_diagnose: fix max_opt_gap() returning 0 when OT stream silent; drop events entirely inside trimmed prefix; remove misclassified real_still/ (those were ep_005/017 OT-offline prefixes that shouldnt have appeared at all). Final: 41 events, all ot_loss.

Repopulate freeze_diagnose/ MP4 clips (folder had become empty after the GIF-purge): 15 ot_loss + 4 real_still samples, 5x speed yuv444p MP4. Refresh summary.json (new run: 43 ot_loss + 4 real_still events; previously labelled all 47 as ot_loss).

sample_grid.png re-rendered at window_length=32 (was 16) + 4 row-matched MP4 clips (sample_grid_clip_NN.mp4) so each grid row has a video twin showing real recording motion at 5x.

ReactWindowDataset: default min_motion_fraction 0.5 -> 0.25 (a window passes if >=25 % of frames per active sensor are above the speed threshold).

ReactWindowDataset: default min_motion_mps 0.03 -> 0.01 (30 mm/s -> 10 mm/s). Recipes + README + demo + CLI updated.

MP4s re-encoded at 5× speed (yuv444p / 8-bit / CRF 20 — sharper text overlays); all 66 GIFs removed from HF (MP4-only going forward). Source 8-bit RGB → 10-bit would be wasted bits; 4:4:4 chroma is the upgrade that actually matters for the text panels.

README cleanup: fix stale 75 % bimanual-contact claim (actual 64.3 % post-trim); reference freeze_intervals.json + MP4 previews + metadata/episodes.parquet that previous batches added.

Re-render 20 sample_window GIFs + MP4s with the trim_offset bug fixed (was showing OT-offline prefix region for windows from trimmed eps; now shows the correct post-trim region with live OT pose updating across frames).

Audit batch 2: regen contact_intensity hero + F1/F2/F8 + freeze_diagnose summary with post-trim numbers (#1, #2, #6). 3302 contact events post-trim (was 4136 pre-trim).

Audit batch 3: ship .mp4 alongside every GIF for inline HF rendering (#11). 51 files, total GIF→MP4: 451→24 MB.

Audit batch 4: per-episode metadata Parquet at `metadata/episodes.parquet` + HF data-files config so the dataset-card viewer renders a sortable table (#13).

Audit batch 1: post-trim numbers in docs/figures.md (#3); tasks.json 2026-05-11 note + trim_offsets lookup (#5, #8); bad_frames.json trim_offsets header (#8); dataloader default which_sensors='both' (#10); new freeze_intervals.json with per-event diagnostic signals (#12)

examples/: upgraded ReactWindowDataset (adds motion filter to catch operator-paused windows the bad_frames check cant); canonical self-contained demo_react_window.py (no twm dependency); new examples/README.md with four-filter explanation and recipes per use case

Update README + docs/{quality,caveats}.md: post-trim totals, three concrete filtering recipes (example dataloader / direct .pt / pose-only), rewritten OT-track-loss section reflecting the prefix-trim + recorder watchdog fix

Add 20 dataloader sample-window GIFs (random windows from post-trim ReactWindowDataset) for visual ot_loss verification