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previews: force disc moved onto the camera views at the sensor's projected position (was pinned to the GelSight tile) and shrunk to annotate rather than cover; forces recomputed with react_calib — the previous newton values are void (end-to-end rho 0.143 from pixel-unit weights on mm-unit features)

previews: force-overlay clips (dot area linear in estimated normal force) + manifest naming the 4 clips from dates without force data

preprocess: add detect/curation/previews modules (curate CLI; ports verified bit-exact against published outputs)

Add tactile_{left,right}_is_new flags; ship preprocess/ code; document true tactile rate (71.8% duplicated, ~8.5 fps effective)

Add native 640x480 per-episode reference frames + usage in README

reference README (selection + usage + whole-window latent rule) + 20-frame preview gallery per episode

clarify: session reference LABELS an all-contact episode's own clean frames (ep003 left = 26, not 0)

Add session/per-episode rest-gel reference (robust to all-contact episodes) + validation

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.