Toolbox quickstart: fix viz function table row

Toolbox: grayscale depth view (standard GelSight height-map convention) + regen demo

Add react_toolbox: VBTS utilities (reference/contact mask/approx depth/viz/calibration/actions) + quickstart + demo montage. MIT.

Docs: mark tactile latency CORRECTED in-data (no loader compensation needed)

Correct tactile latency (+15f) for pushT: tactile videos shifted to align with cameras/poses, rebuilt from raw H5 (single-gen, raw-quality contact scalars). RGB/depth/pose unchanged.

Correct tactile latency (+15f) for motherboard: tactile videos shifted to align with cameras/poses, rebuilt from raw H5 (single-gen, raw-quality contact scalars). RGB/depth/pose unchanged.

Document ~15-frame tactile acquisition latency + loader compensation (tactile_latency=); tasks.json + README + loader

Add tactile-latency inspection clips (~10s, 1x real-time, contact-onset windows): 5 motherboard + 3 pushT. Panel shows cams + GelSight raw/diff + frame counter to read GelSight deformation lag vs visual contact.

Add tactile-latency inspection clips: ~10s real-time (1x) panels around contact onsets, per task, for verifying GelSight deformation lag vs visual contact.

README: HF dataset-viewer configs (per-task splits) + index column docs

Enrich pushT parquet with task/episode/index columns (LeRobot-aligned)

Enrich motherboard parquet with task/episode/index columns (LeRobot-aligned)

Make depth optional to download: README download section + examples/download.py helper + tasks.json depth-size/optional metadata

Depth + object_pose: refresh tasks.json, README, loader

Update pushT episodes.jsonl (object_tracked)

Add object_pose column to pushT parquet

Add pushT depth (FFV1 16-bit, lossless mm)

Update motherboard episodes.jsonl (object_tracked)

Add object_pose column to motherboard parquet

Add motherboard depth (FFV1 16-bit, lossless mm)

Clear legacy content: retired .pt-era docs, dataset_figures, dataloader_examples, contact_intensity plots, world_offset_test scratch, old examples/README. Dataset is now a clean video-format release (data/ + README + tasks.json + ReactVideoDataset loader).

Remove superseded single-task .pt release (episodes/, segments/, old previews, root JSONs)

Multi-task video release: tasks.json + README + ReactVideoDataset loader

Publish pushT video release (MP4+parquet, 640x480) + curation + previews

Publish motherboard video release (MP4+parquet, 640x480) + curation + previews

Add per-task camera extrinsics: motherboard=May-12 (RMSE ~5mm), pushT=June-26 (RMSE ~0.6px). Each data/<task>/calibration/ has T_mocap_to_cam_{left,middle,right}.json + T_gel_to_rigid_{left,right}.json + calibration.json manifest (epoch, applies-to dates, RMSE, projection chain).

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.