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.

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).

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.

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.

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.

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.

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

Re-render previews for 3 trimmed episodes (ep_005/012/017) starting from post-trim region

Trim OT-uninitialized prefixes from 3 .pt files (ep_005/012/017 — see `_contact_meta.trim_offset`); recompute bad_frames + data_quality_breakdown in trimmed coords; ot_loss frame count now reflects real mid-episode mocap dropout only. Recorder-side OT watchdog added to data_collection.py (in twm repo) so future episodes won't repeat the bug.

Bake ot_loss intervals into bad_frames.json (47 events, rotation-aware detector); dataloader skips them; docs/quality + caveats updated; data_quality_breakdown #3 renamed sensor_at_rest → ot_loss

Re-label freeze classifier: events are OptiTrack track losses (ot_loss), not recorder-pipeline stalls. GelSight stream is healthy throughout; tac_dup was misread (gel only changes under contact deformation).

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

Add freeze_classify/ — cross-modal motion classifier for sub-second freezes (15 samples per class)

Re-render freeze_check/ in recording-viewer layout (3 cams + GS thumbs + projection); add 1 s pre/post pad; onset/offset/mid scheduling for long freezes

Add freeze_check/ — 55 real-time OptiTrack-freeze inspection clips

Drop 2026-03-23 right-only pilot (outdated); recompute totals across 27 bimanual recordings

Fix RealSense BGR→RGB; sample_window.gif now matches recording-viewer layout

Regen previews at 256-color palette; 3-cam dataloader gif; add docs/curation_pipeline.md

Add example dataloader: ReactWindowDataset for short contact-rich window sampling + demo (static grid + GIF) with sensor-frame overlay

Lead with robot-arm-free / human-hand collection — README hero + 'What's different' section, tasks.json gets operator/embodiment fields, recording.md explains setup, F7 adds Operator column

Add data-quality docs: bad_frames.json, per-mode breakdown, inspection figures; refresh episode GIFs with cam2 projection overlay

Re-render episode GIFs with full panel (3 cams + 2 tactile + sensor frame projections), 512x192 @ 10 fps, 12s loop

Replace per-episode Gantt timelines with intensity waveform figures (full + 20-min)

Add dataset figures: 30 episode GIFs, contact timelines, F1-F8 stats