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.

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.

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).

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.

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

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

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

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 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

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