| """Example page for the probe test set: the README's claims, shown. |
| |
| A README can assert that the overlay lands on the sensor. A page with 72 of |
| them lets a reader check. Static stills, not clips: the question here is where |
| ground truth IS, not how it moves — the clips already exist under /probes/. |
| """ |
| from __future__ import annotations |
|
|
| import argparse |
| import json |
| import shutil |
| import sys |
| from pathlib import Path |
|
|
| sys.path.insert(0, str(Path(__file__).resolve().parents[1])) |
|
|
| from react_paths import out_root, testset_root |
|
|
| SRC = testset_root() |
|
|
|
|
| def _sessions_note(man, runs): |
| """State what the POLICY is and what this DRAW happened to contain. |
| |
| An earlier version of this page said "2026-05-19 is excluded" long after |
| that decision was reversed. The draw happened not to select it, and the |
| prose turned an accident of sampling into a stated policy — a reader would |
| have concluded the session is unusable. Both facts are now read from the |
| manifest, so the page cannot outlive the decision. |
| """ |
| used = sorted({r["episode"].split("/")[0] for r in runs}) |
| elig = sorted(man.get("trusted_sessions", [])) |
| excl = man.get("excluded_sessions") or {} |
| parts = [f"Start frames are drawn from <b>held-out intervals</b> of " |
| f"<code>splits.json</code> — never training frames."] |
| parts.append(f"Eligible sessions: {', '.join(elig)}. " |
| f"This draw happened to select {', '.join(used)}" |
| + (f"; {', '.join(sorted(set(elig) - set(used)))} was not sampled " |
| f"this time, which is chance, not a judgement about it." |
| if set(elig) - set(used) else ".")) |
| if excl: |
| parts.append("Excluded by policy: " + "; ".join( |
| f"<b>{k}</b> — {v}" for k, v in excl.items())) |
| resid = man.get("world_residual", {}) |
| noted = [k for k, v in resid.items() if v and v.get("yaw_deg") is None |
| and v.get("in_plane_mm") is None and k in used] |
| if "2026-05-19" in elig: |
| parts.append("<b>2026-05-19</b> had its OptiTrack world redefined " |
| "mid-collection; the release applies a translation-only " |
| "correction and the residual yaw about the table normal is " |
| "<b>unmeasured</b> (about 16 px at the workspace). It is " |
| "included with that stated in <code>world_residual</code> " |
| "rather than dropped — a bounded, declared error is " |
| "not a reason to discard a fifth of the sessions.") |
| return " ".join(parts) |
|
|
|
|
| def main() -> int: |
| ap = argparse.ArgumentParser() |
| ap.add_argument("--out", default=str(out_root("testset_page"))) |
| args = ap.parse_args() |
| out = Path(args.out) |
| if out.exists(): |
| shutil.rmtree(out) |
| out.mkdir(parents=True) |
| shutil.copytree(SRC / "overlays", out / "overlays") |
| shutil.copy(SRC / "overlay_example.jpg", out / "overlay_example.jpg") |
|
|
| man = json.loads((SRC / "manifest.json").read_text()) |
| runs = [json.loads((SRC / p["meta"]).read_text()) for p in man["probes"]] |
| allp = [q for r in runs for q in r["probes"]] |
| tr = [q["amplitude"] for q in allp if q["amplitude_unit"] == "m"] |
| ro = [q["amplitude"] for q in allp if q["amplitude_unit"] == "deg"] |
| pc = [q["speed_percentile"] for q in allp] |
| sep = min(q["min_separation_m"] for q in allp) |
| px = man["overlay_error_budget_px"]["camera_reprojection"] |
|
|
| cards = [ |
| (f"{len(allp)}", f"probes · {len(runs)} start frames"), |
| (f"{min(tr):.2f}–{max(tr):.2f} m", |
| f"translation · {min(ro):.0f}–{max(ro):.0f}° rotation"), |
| (f"p{min(pc):.0f}–p{max(pc):.0f}", "speed vs the dataset"), |
| (f"~{max(px.values()):.0f} px", "worst reprojection noise floor"), |
| (f"{sep:.3f} m", "closest the hands come (rule 0.12)"), |
| ] |
| sec = [] |
| for r in runs: |
| tiles = "".join( |
| f"<figure><img loading='lazy' src='overlays/run{r['run']}_{q['name']}.jpg'>" |
| f"<figcaption>{q['name']} · {q['amplitude']:g}" |
| f"{'m' if q['amplitude_unit'] == 'm' else '°'} · " |
| f"{q['horizon_s']:.2f}s · p{q['speed_percentile']:.0f}</figcaption>" |
| f"</figure>" for q in r["probes"]) |
| sec.append( |
| f"<h2>run{r['run']} — {r['episode']}, rows " |
| f"{r['context_rows'][0]}–{r['context_rows'][-1]} " |
| f"<small>moving {r['moving_side']}, holding {r['held_side']}</small></h2>" |
| f"<div class='grid'>{tiles}</div>") |
|
|
| html = """<!doctype html><html lang="en"><head><meta charset="utf-8"> |
| <meta name="viewport" content="width=device-width,initial-scale=1"> |
| <title>React probe test set</title><style> |
| :root{--bg:#0b1020;--fg:#e8eefb;--dim:#8ea0c2;--line:#1e2a45;--card:#111a2e;--accent:#ffc46b} |
| *{box-sizing:border-box}body{margin:0;background:var(--bg);color:var(--fg); |
| font:16px/1.6 'IBM Plex Sans',system-ui,sans-serif} |
| .wrap{max-width:1400px;margin:0 auto;padding:28px 20px 70px} |
| h1{font-size:28px;margin:0 0 8px}h2{font-size:16px;color:var(--accent);margin:30px 0 8px} |
| h2 small{color:var(--dim);font-weight:400} |
| p{color:var(--dim);max-width:78ch}code{background:#0d1526;padding:1px 5px;border-radius:4px} |
| a{color:var(--accent)} |
| .cards{display:grid;grid-template-columns:repeat(auto-fit,minmax(170px,1fr));gap:10px;margin:20px 0} |
| .card{background:var(--card);border:1px solid var(--line);border-radius:10px;padding:12px 14px} |
| .card b{display:block;font-size:22px;color:var(--accent);font-weight:650} |
| .card span{color:var(--dim);font-size:12px} |
| .grid{display:grid;grid-template-columns:repeat(auto-fill,minmax(300px,1fr));gap:10px} |
| figure{margin:0;background:var(--card);border:1px solid var(--line);border-radius:9px;padding:7px} |
| img{width:100%;border-radius:5px;display:block} |
| figcaption{color:var(--dim);font-size:12px;margin-top:5px} |
| .hero{background:var(--card);border:1px solid var(--line);border-radius:12px;padding:10px;margin:18px 0} |
| </style></head><body><div class="wrap"> |
| <h1>React probe test set</h1> |
| <p>__N__ commanded action sequences over __R__ start frames, for scoring a tactile |
| world model's rollouts against ground truth that is <b>geometric, not photometric</b>. |
| Nobody performed these motions, so there is no ground-truth future image — what |
| is ground truth is where the sensor <i>would be</i>, and its projection into each |
| camera. Full method and usage in the |
| <a href="README.md">README</a>; per-probe clips are under |
| <a href="../probes/index.html">/probes/</a>.</p> |
| <div class="hero"><img src="overlay_example.jpg"> |
| <figcaption style="color:var(--dim);font-size:13px;margin-top:8px">Yellow: commanded |
| ground truth. Red: a deliberately wrong rollout, offset 25 mm in world x — |
| it reads 18–19 px against a ~6 px noise floor. Dimmed: the hand that |
| must stay still.</figcaption></div> |
| <div class="cards">__CARDS__</div> |
| <p>__SESSIONS__</p> |
| __SECS__ |
| </div></body></html>""" |
| html = (html.replace("__N__", str(len(allp))) |
| .replace("__R__", str(len(runs))) |
| .replace("__CARDS__", "".join( |
| f"<div class='card'><b>{a}</b><span>{b}</span></div>" for a, b in cards)) |
| .replace("__SESSIONS__", _sessions_note(man, runs)) |
| .replace("__SECS__", "".join(sec))) |
| (out / "index.html").write_text(html) |
| shutil.copy(SRC / "README.md", out / "README.md") |
| print(f"{len(allp)} overlays -> {out}/index.html") |
| return 0 |
|
|
|
|
| if __name__ == "__main__": |
| raise SystemExit(main()) |
|
|
