splits.json — 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"{k} — {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("2026-05-19 had its OptiTrack world redefined "
"mid-collection; the release applies a translation-only "
"correction and the residual yaw about the table normal is "
"unmeasured (about 16 px at the workspace). It is "
"included with that stated in world_residual "
"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"__N__ commanded action sequences over __R__ start frames, for scoring a tactile world model's rollouts against ground truth that is geometric, not photometric. Nobody performed these motions, so there is no ground-truth future image — what is ground truth is where the sensor would be, and its projection into each camera. Full method and usage in the README; per-probe clips are under /probes/.
__SESSIONS__
__SECS__