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rebuild testset/ from the probe package

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	<!doctype html><html lang="en"><head><meta charset="utf-8">
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	<title>React probe test set</title><style>
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	<h1>React probe test set</h1>
	<p>72 commanded action sequences over 6 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"><div class='card'><b>72</b><span>probes · 6 start frames</span></div><div class='card'><b>0.11–0.38 m</b><span>translation · 23–90° rotation</span></div><div class='card'><b>p40–p79</b><span>speed vs the dataset</span></div><div class='card'><b>~6 px</b><span>worst reprojection noise floor</span></div><div class='card'><b>0.133 m</b><span>closest the hands come (rule 0.12)</span></div></div>
	<p>Start frames are drawn from <b>held-out intervals</b> of <code>splits.json</code> — never training frames. Eligible sessions: 2026-05-10, 2026-05-11, 2026-05-19. This draw happened to select 2026-05-10, 2026-05-11; 2026-05-19 was not sampled this time, which is chance, not a judgement about it. <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.</p>
	<h2>run0 — 2026-05-11/episode_007, rows 1322–1325  <small>moving right, holding left</small></h2><div class='grid'><figure><img loading='lazy' src='overlays/run0_trans+x.jpg'><figcaption>trans+x · 0.1087m · 1.53s · p46</figcaption></figure><figure><img loading='lazy' src='overlays/run0_trans-x.jpg'><figcaption>trans-x · 0.2134m · 2.70s · p48</figcaption></figure><figure><img loading='lazy' src='overlays/run0_trans+y.jpg'><figcaption>trans+y · 0.1908m · 1.67s · p60</figcaption></figure><figure><img loading='lazy' src='overlays/run0_trans-y.jpg'><figcaption>trans-y · 0.1736m · 1.70s · p56</figcaption></figure><figure><img loading='lazy' src='overlays/run0_trans+z.jpg'><figcaption>trans+z · 0.3653m · 1.70s · p79</figcaption></figure><figure><img loading='lazy' src='overlays/run0_trans-z.jpg'><figcaption>trans-z · 0.3543m · 2.13s · p71</figcaption></figure><figure><img loading='lazy' src='overlays/run0_rot+x.jpg'><figcaption>rot+x · 63.3655° · 2.60s · p55</figcaption></figure><figure><img loading='lazy' src='overlays/run0_rot-x.jpg'><figcaption>rot-x · 25.1764° · 1.50s · p43</figcaption></figure><figure><img loading='lazy' src='overlays/run0_rot+y.jpg'><figcaption>rot+y · 71.2313° · 3.93s · p45</figcaption></figure><figure><img loading='lazy' src='overlays/run0_rot-y.jpg'><figcaption>rot-y · 33.3475° · 1.73s · p47</figcaption></figure><figure><img loading='lazy' src='overlays/run0_rot+z.jpg'><figcaption>rot+z · 31.9447° · 1.50s · p50</figcaption></figure><figure><img loading='lazy' src='overlays/run0_rot-z.jpg'><figcaption>rot-z · 51.4259° · 1.53s · p66</figcaption></figure></div><h2>run1 — 2026-05-10/episode_009, rows 760–763  <small>moving left, holding right</small></h2><div class='grid'><figure><img loading='lazy' src='overlays/run1_trans+x.jpg'><figcaption>trans+x · 0.1916m · 2.60s · p47</figcaption></figure><figure><img loading='lazy' src='overlays/run1_trans-x.jpg'><figcaption>trans-x · 0.1404m · 1.57s · p52</figcaption></figure><figure><img loading='lazy' src='overlays/run1_trans+y.jpg'><figcaption>trans+y · 0.1078m · 1.53s · p46</figcaption></figure><figure><img loading='lazy' src='overlays/run1_trans-y.jpg'><figcaption>trans-y · 0.3249m · 1.70s · p76</figcaption></figure><figure><img loading='lazy' src='overlays/run1_trans+z.jpg'><figcaption>trans+z · 0.3773m · 3.37s · p59</figcaption></figure><figure><img loading='lazy' src='overlays/run1_trans-z.jpg'><figcaption>trans-z · 0.23m · 3.00s · p48</figcaption></figure><figure><img loading='lazy' src='overlays/run1_rot+x.jpg'><figcaption>rot+x · 79.3507° · 4.03s · p48</figcaption></figure><figure><img loading='lazy' src='overlays/run1_rot-x.jpg'><figcaption>rot-x · 60.6016° · 2.80s · p51</figcaption></figure><figure><img loading='lazy' src='overlays/run1_rot+y.jpg'><figcaption>rot+y · 33.8293° · 1.87s · p45</figcaption></figure><figure><img loading='lazy' src='overlays/run1_rot-y.jpg'><figcaption>rot-y · 46.4903° · 1.77s · p58</figcaption></figure><figure><img loading='lazy' src='overlays/run1_rot+z.jpg'><figcaption>rot+z · 78.7558° · 1.77s · p75</figcaption></figure><figure><img loading='lazy' src='overlays/run1_rot-z.jpg'><figcaption>rot-z · 52.0133° · 2.10s · p56</figcaption></figure></div><h2>run2 — 2026-05-10/episode_002, rows 5845–5848  <small>moving left, holding right</small></h2><div class='grid'><figure><img loading='lazy' src='overlays/run2_trans+x.jpg'><figcaption>trans+x · 0.1056m · 1.50s · p46</figcaption></figure><figure><img loading='lazy' src='overlays/run2_trans-x.jpg'><figcaption>trans-x · 0.3057m · 1.77s · p72</figcaption></figure><figure><img loading='lazy' src='overlays/run2_trans+y.jpg'><figcaption>trans+y · 0.1933m · 1.93s · p55</figcaption></figure><figure><img loading='lazy' src='overlays/run2_trans-y.jpg'><figcaption>trans-y · 0.1357m · 1.53s · p52</figcaption></figure><figure><img loading='lazy' src='overlays/run2_trans+z.jpg'><figcaption>trans+z · 0.1328m · 1.77s · p47</figcaption></figure><figure><img loading='lazy' src='overlays/run2_trans-z.jpg'><figcaption>trans-z · 0.2835m · 2.93s · p54</figcaption></figure><figure><img loading='lazy' src='overlays/run2_rot+x.jpg'><figcaption>rot+x · 40.0498° · 1.53s · p57</figcaption></figure><figure><img loading='lazy' src='overlays/run2_rot-x.jpg'><figcaption>rot-x · 82.3862° · 2.67s · p63</figcaption></figure><figure><img loading='lazy' src='overlays/run2_rot+y.jpg'><figcaption>rot+y · 71.2197° · 1.57s · p76</figcaption></figure><figure><img loading='lazy' src='overlays/run2_rot-y.jpg'><figcaption>rot-y · 72.1978° · 2.17s · p66</figcaption></figure><figure><img loading='lazy' src='overlays/run2_rot+z.jpg'><figcaption>rot+z · 58.6594° · 2.33s · p56</figcaption></figure><figure><img loading='lazy' src='overlays/run2_rot-z.jpg'><figcaption>rot-z · 24.6532° · 1.50s · p42</figcaption></figure></div><h2>run3 — 2026-05-10/episode_005, rows 401–404  <small>moving right, holding left</small></h2><div class='grid'><figure><img loading='lazy' src='overlays/run3_trans+x.jpg'><figcaption>trans+x · 0.1212m · 1.70s · p46</figcaption></figure><figure><img loading='lazy' src='overlays/run3_trans-x.jpg'><figcaption>trans-x · 0.1639m · 1.77s · p53</figcaption></figure><figure><img loading='lazy' src='overlays/run3_trans+y.jpg'><figcaption>trans+y · 0.3207m · 2.50s · p63</figcaption></figure><figure><img loading='lazy' src='overlays/run3_trans-y.jpg'><figcaption>trans-y · 0.1668m · 1.83s · p52</figcaption></figure><figure><img loading='lazy' src='overlays/run3_trans+z.jpg'><figcaption>trans+z · 0.2874m · 4.00s · p46</figcaption></figure><figure><img loading='lazy' src='overlays/run3_trans-z.jpg'><figcaption>trans-z · 0.1555m · 2.10s · p47</figcaption></figure><figure><img loading='lazy' src='overlays/run3_rot+x.jpg'><figcaption>rot+x · 55.638° · 1.83s · p62</figcaption></figure><figure><img loading='lazy' src='overlays/run3_rot-x.jpg'><figcaption>rot-x · 75.9153° · 3.70s · p49</figcaption></figure><figure><img loading='lazy' src='overlays/run3_rot+y.jpg'><figcaption>rot+y · 23.4508° · 1.50s · p41</figcaption></figure><figure><img loading='lazy' src='overlays/run3_rot-y.jpg'><figcaption>rot-y · 25.9304° · 1.50s · p44</figcaption></figure><figure><img loading='lazy' src='overlays/run3_rot+z.jpg'><figcaption>rot+z · 34.2098° · 1.50s · p53</figcaption></figure><figure><img loading='lazy' src='overlays/run3_rot-z.jpg'><figcaption>rot-z · 45.5395° · 1.67s · p59</figcaption></figure></div><h2>run4 — 2026-05-11/episode_011, rows 2377–2380  <small>moving right, holding left</small></h2><div class='grid'><figure><img loading='lazy' src='overlays/run4_trans+x.jpg'><figcaption>trans+x · 0.2533m · 1.87s · p65</figcaption></figure><figure><img loading='lazy' src='overlays/run4_trans-x.jpg'><figcaption>trans-x · 0.2352m · 1.97s · p61</figcaption></figure><figure><img loading='lazy' src='overlays/run4_trans+y.jpg'><figcaption>trans+y · 0.2915m · 1.63s · p73</figcaption></figure><figure><img loading='lazy' src='overlays/run4_trans-y.jpg'><figcaption>trans-y · 0.1628m · 1.67s · p55</figcaption></figure><figure><img loading='lazy' src='overlays/run4_trans+z.jpg'><figcaption>trans+z · 0.1941m · 2.77s · p46</figcaption></figure><figure><img loading='lazy' src='overlays/run4_trans-z.jpg'><figcaption>trans-z · 0.3085m · 2.90s · p57</figcaption></figure><figure><img loading='lazy' src='overlays/run4_rot+x.jpg'><figcaption>rot+x · 25.9953° · 1.50s · p44</figcaption></figure><figure><img loading='lazy' src='overlays/run4_rot-x.jpg'><figcaption>rot-x · 47.495° · 2.33s · p49</figcaption></figure><figure><img loading='lazy' src='overlays/run4_rot+y.jpg'><figcaption>rot+y · 89.5097° · 1.83s · p78</figcaption></figure><figure><img loading='lazy' src='overlays/run4_rot-y.jpg'><figcaption>rot-y · 39.8404° · 1.80s · p52</figcaption></figure><figure><img loading='lazy' src='overlays/run4_rot+z.jpg'><figcaption>rot+z · 28.5261° · 1.50s · p47</figcaption></figure><figure><img loading='lazy' src='overlays/run4_rot-z.jpg'><figcaption>rot-z · 83.6116° · 2.67s · p64</figcaption></figure></div><h2>run5 — 2026-05-11/episode_007, rows 2365–2368  <small>moving right, holding left</small></h2><div class='grid'><figure><img loading='lazy' src='overlays/run5_trans+x.jpg'><figcaption>trans+x · 0.1139m · 1.57s · p46</figcaption></figure><figure><img loading='lazy' src='overlays/run5_trans-x.jpg'><figcaption>trans-x · 0.2181m · 2.43s · p52</figcaption></figure><figure><img loading='lazy' src='overlays/run5_trans+y.jpg'><figcaption>trans+y · 0.201m · 1.63s · p62</figcaption></figure><figure><img loading='lazy' src='overlays/run5_trans-y.jpg'><figcaption>trans-y · 0.1837m · 2.03s · p52</figcaption></figure><figure><img loading='lazy' src='overlays/run5_trans+z.jpg'><figcaption>trans+z · 0.2822m · 3.53s · p49</figcaption></figure><figure><img loading='lazy' src='overlays/run5_trans-z.jpg'><figcaption>trans-z · 0.2499m · 3.40s · p47</figcaption></figure><figure><img loading='lazy' src='overlays/run5_rot+x.jpg'><figcaption>rot+x · 75.7041° · 2.57s · p62</figcaption></figure><figure><img loading='lazy' src='overlays/run5_rot-x.jpg'><figcaption>rot-x · 32.7892° · 1.70s · p47</figcaption></figure><figure><img loading='lazy' src='overlays/run5_rot+y.jpg'><figcaption>rot+y · 70.4553° · 2.47s · p60</figcaption></figure><figure><img loading='lazy' src='overlays/run5_rot-y.jpg'><figcaption>rot-y · 39.7622° · 1.53s · p57</figcaption></figure><figure><img loading='lazy' src='overlays/run5_rot+z.jpg'><figcaption>rot+z · 49.5627° · 2.33s · p50</figcaption></figure><figure><img loading='lazy' src='overlays/run5_rot-z.jpg'><figcaption>rot-z · 22.6513° · 1.50s · p40</figcaption></figure></div>
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