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sessions/session_20260921_225630_786148/runs/lab-a-faithful-photo/evidence/rt_faithful_photo_20261011/dispatch.json

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+{
+  "goal": "RT-FAITHFUL-PHOTO from scan-selected c0012; CMA cap100/native stop, projected Adam500, complete roster and inspected delivery",
+  "done_when": "502 terminal entries, P0 eligible exact ties, BEST/FINAL, saved models/all-view media/plausibility",
+  "non_goals": [
+    "changed loss",
+    "k cap",
+    "regularizer",
+    "Hand A remedy",
+    "independent execution audit",
+    "replay to replace original evidence"
+  ],
+  "compute_authority": "Owner: any and all compute needed for this task; proceed without renewed permission",
+  "execution_environment": "local",
+  "device": "cuda:0",
+  "gpu_uuid": "GPU-30be4c6b-0cc3-a19f-14c8-b53e90ace6dc",
+  "width": 2,
+  "placement": "C; trainer/evaluator overlap after task qualification",
+  "appearance": "Preserve requested RP3 appearance and existing retained limitations",
+  "telemetry_online": false,
+  "run_name": "rt_mesh_refit06_photometric_scan_c0012_projadam_01",
+  "source_qualification_driver": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/execution/rt_projadam_20261007/photometric_launch/qualification_driver.py"
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-photo/evidence/rt_faithful_photo_20261011/execute_task.py

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+"""Task stages around existing owners; saved science precedes auxiliary delivery."""
+import json
+from pathlib import Path
+import subprocess
+import time
+
+ROOT = Path(__file__).resolve().parent
+CONFIG = json.loads((ROOT / 'run_config.json').read_text())
+CWD = Path(CONFIG['cwd'])
+FULL = Path(CONFIG['full_root'])
+PYTHON = CONFIG['python']
+DELIVERY = ROOT / 'delivery'
+
+def run(stage, argv):
+    state = dict(stage=stage, status='running', argv=[str(a) for a in argv], started_unix_s=time.time())
+    (ROOT / 'task_state.json').write_text(json.dumps(state, indent=2))
+    with (ROOT / (stage + '.log')).open('a') as log:
+        result = subprocess.run(state['argv'], cwd=CWD, stdout=log, stderr=subprocess.STDOUT)
+    state.update(status='complete' if result.returncode == 0 else 'failed', exit_status=result.returncode,
+                 finished_unix_s=time.time())
+    (ROOT / (stage + '_state.json')).write_text(json.dumps(state, indent=2))
+    (ROOT / 'task_state.json').write_text(json.dumps(state, indent=2))
+    return result.returncode
+
+code = run('photometric', [FULL / 'launch_rt5.sh', 'start'])
+attempt = json.loads(sorted((FULL / 'attempts').glob('*.json'))[-1].read_text())
+if not (FULL / 'adam/training_complete.json').exists() or not (FULL / 'adam/best.json').exists():
+    raise SystemExit(code or 1)
+# Numeric delivery can succeed even if auxiliary telemetry shutdown failed.
+if run('science_delivery', [PYTHON, ROOT / 'deliver_science.py']):
+    raise SystemExit(1)
+for stage, command, extra in (
+    ('analyze', 'analyze', []),
+    ('role_media', 'render', ['--result-root', CONFIG['result_root'], '--rt-contract', CONFIG['rt_contract'],
+                            '--device', CONFIG['device']]),
+    ('graph', 'graph', []),
+):
+    if run(stage, [PYTHON, 'scripts/real_rgbd_photometric_report.py', command, '--run-dir', FULL / 'adam',
+                   '--cma-run-dir', FULL / 'cma', '--output', DELIVERY / stage, *extra]):
+        raise SystemExit(1)
+(ROOT / 'task_state.json').write_text(json.dumps(dict(stage='delivery', status='complete',
+    scientific_attempt_status=attempt['status'], launcher_exit_status=code, finished_unix_s=time.time()), indent=2))

sessions/session_20260921_225630_786148/runs/lab-a-faithful-photo/evidence/rt_faithful_photo_20261011/focused_tests.log

@@ -0,0 +1,115 @@
+Agent preflight summary
+  execution_environment: local
+  pwd:              /mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011
+  git_root:         /mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011
+  branch:           cursor/rt_faithful_photo_20261011
+  belt.agentGuards: true
+  core.hooksPath:   scripts/git-hooks
+  marker.branch:          cursor/rt_faithful_photo_20261011
+  marker.environment:     local
+  marker.canonical_path:  /home/magna/belt_perception
+  marker.worktree_path:   /mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011
+  marker.base_commit:     3ce3c625d80ec3a2ad76a79e0ffce7129448e515
+  marker.created_at:      2026-10-11T15:21:32Z
+  resolved.canonical:     /home/magna/belt_perception
+  resolved.worktree_root: /mnt/data0/magna
+  resolved.data_root:     /mnt/data2/magna
+  resolved.shared_root:   /mnt/data2/magna/belt_perception_shared
+  resolved.run_root:      /tmp/belt_perception_runs
+  resolved.scratch_root:  /tmp
+  resolved.transfer_root: /mnt/data2/magna/belt_perception_transfers
+  resolved.uv_cache_root: /home/magna/.cache/uv
+  worktree status:
+    ## cursor/rt_faithful_photo_20261011
+  canonical status (/home/magna/belt_perception):
+    ## main...origin/main
+     m co-tracker
+     ? mvtracker
+
+Preflight passed. Safe to edit in this worktree.
+
+== Execution Environment ==
+OK    execution environment: local
+INFO  project_root: /mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011
+INFO  canonical_repo_path: /home/magna/belt_perception
+INFO  agent_worktree_root: /mnt/data0/magna
+INFO  data_root: /mnt/data2/magna
+INFO  shared_root: /mnt/data2/magna/belt_perception_shared
+INFO  run_root: /tmp/belt_perception_runs
+INFO  scratch_root: /tmp
+INFO  transfer_root: /mnt/data2/magna/belt_perception_transfers
+INFO  uv_cache_root: /home/magna/.cache/uv
+INFO  peer_ssh_alias: login.betty.parcc.upenn.edu
+
+== Repository ==
+INFO  repo root: /mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011
+INFO  branch: cursor/rt_faithful_photo_20261011
+INFO  linked git worktree: yes
+OK    git status is clean
+
+== Submodules ==
+INFO  gitlink paths: 3D-ViTac_Tactile_Hardware, Fast-FoundationStereo, FoundationStereo, co-tracker, models, mvtracker, segment-anything-2, splinebox, task_board_urdf, third_party/MV-TAP, third_party/WAFT-Stereo, third_party/deform360, third_party/newton, third_party/phystwin, third_party/phystwin_original, third_party/proj-QQTT, third_party/tapnet, third_party/zdepth
+INFO  .gitmodules paths: 3D-ViTac_Tactile_Hardware, Fast-FoundationStereo, FoundationStereo, co-tracker, models, mvtracker, segment-anything-2, splinebox, task_board_urdf, third_party/MV-TAP, third_party/WAFT-Stereo, third_party/deform360, third_party/newton, third_party/phystwin, third_party/phystwin_original, third_party/proj-QQTT, third_party/tapnet, third_party/zdepth
+OK    all gitlinks are present in .gitmodules
+OK    all .gitmodules paths have gitlinks
+INFO  initialized submodule co-tracker: branch=detached@82e02e8, HEAD=82e02e8029753ad4ef13cf06be7f4fc5facdda4d, dirty=0, origin=https://github.com/facebookresearch/co-tracker.git, expected=https://github.com/facebookresearch/co-tracker.git, remote_match=yes
+OK    submodule co-tracker: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule segment-anything-2: branch=detached@969dad5, HEAD=969dad578a42d4c75624f87821497d37aabfbe99, dirty=0, origin=https://github.com/leonmkim/segment-anything-2.git, expected=https://github.com/leonmkim/segment-anything-2.git, remote_match=yes
+OK    submodule segment-anything-2: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule splinebox: branch=detached@6edb17e, HEAD=6edb17ef22b40176f66d31c57621105067815a2e, dirty=0, origin=https://github.com/leonmkim/splinebox.git, expected=https://github.com/leonmkim/splinebox.git, remote_match=yes
+OK    submodule splinebox: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule third_party/newton: branch=detached@5f4656cd, HEAD=5f4656cd82d34ccdf16f19b5425b3f0181f3b5b0, dirty=0, origin=https://github.com/leonmkim/newton.git, expected=https://github.com/leonmkim/newton.git, remote_match=yes
+OK    submodule third_party/newton: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule third_party/phystwin: branch=detached@41aa14f, HEAD=41aa14f2c554bca7faeef1e807e0651e54a53f7c, dirty=0, origin=https://github.com/leonmkim/PhysTwin.git, expected=https://github.com/leonmkim/PhysTwin.git, remote_match=yes
+OK    submodule third_party/phystwin: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule third_party/phystwin_original: branch=detached@81c7187, HEAD=81c718790a37e5e0102eb77af2c6edd34a9db25f, dirty=0, origin=https://github.com/Jianghanxiao/PhysTwin.git, expected=https://github.com/Jianghanxiao/PhysTwin.git, remote_match=yes
+OK    submodule third_party/phystwin_original: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule third_party/zdepth: branch=detached@abc01e7, HEAD=abc01e77ed5a905fbd87c2f011cfcf50653cfbda, dirty=0, origin=https://github.com/catid/Zdepth.git, expected=https://github.com/catid/Zdepth.git, remote_match=yes
+OK    submodule third_party/zdepth: clean detached HEAD (accepted for read-only/pytest validation)
+OK    git submodule status --recursive completed
+      -90d1df57d124b3dd2bcb590e3cae9809a15c9a82 3D-ViTac_Tactile_Hardware
+      -a23607edae8287bd450df17a5ab54f6daf841550 Fast-FoundationStereo
+      -f1b1e19966a206034db1d04ae983dd3dcfb720f5 FoundationStereo
+       82e02e8029753ad4ef13cf06be7f4fc5facdda4d co-tracker (v1.0-32-g82e02e8)
+      -ddc16cd85754ea3d3f61dd053de206e34c489101 models
+      -b6f6430dcdad56d6e61c8cec00323b3452334c86 mvtracker
+       969dad578a42d4c75624f87821497d37aabfbe99 segment-anything-2 (remotes/origin/online_main)
+       6edb17ef22b40176f66d31c57621105067815a2e splinebox (v0.5.1-99-g6edb17e)
+      -bbac2ecb74c403c6f759f6a7cddd819150c3afc5 task_board_urdf
+      -3b300a65a62be88984de7d6297c65f5bc7892aa4 third_party/MV-TAP
+      -c534320860f4bbb2c0df896e3ccb95de49284aec third_party/WAFT-Stereo
+      -d8522a4403b766aeb387510c04e89032a56fdf35 third_party/deform360
+       5f4656cd82d34ccdf16f19b5425b3f0181f3b5b0 third_party/newton (v0.2.3-1049-g5f4656cd)
+       41aa14f2c554bca7faeef1e807e0651e54a53f7c third_party/phystwin (heads/main)
+       81c718790a37e5e0102eb77af2c6edd34a9db25f third_party/phystwin_original (heads/main)
+      -0648a2bb16f4dcb465039bde485208a173a747cb third_party/proj-QQTT
+      -454041f7eb110a3eeabf9743cd97f119ed91fb8e third_party/tapnet
+       abc01e77ed5a905fbd87c2f011cfcf50653cfbda third_party/zdepth (heads/master)
+INFO  profile minimal required submodules: co-tracker, segment-anything-2, splinebox, third_party/newton
+OK    submodule initialized: co-tracker
+OK    submodule initialized: segment-anything-2
+OK    submodule initialized: splinebox
+OK    submodule initialized: third_party/newton
+
+== Environment ==
+OK    .venv exists
+OK    .venv resolves inside this checkout
+OK    uv.lock exists
+OK    .envrc exists
+OK    PyZED wheel exists at repo root: pyzed-5.5-cp311-cp311-linux_x86_64.whl
+OK    PyZED wheel is a symlink -> /mnt/data2/magna/belt_perception_shared/wheels/pyzed-5.5-cp311-cp311-linux_x86_64.whl
+OK    shared wheelhouse exists: /mnt/data2/magna/belt_perception_shared/wheels
+OK    shared PyZED wheel exists: /mnt/data2/magna/belt_perception_shared/wheels/pyzed-5.5-cp311-cp311-linux_x86_64.whl
+
+== Shared Artifact Roots ==
+INFO  recordings: missing shared read-only input root (okay for minimal pure unit tests)
+INFO  converted_datasets: missing shared read-only input root (okay for minimal pure unit tests)
+INFO  converted_datasets_repaired: missing shared read-only input root (okay for minimal pure unit tests)
+INFO  results: missing shared namespaced output root (OK until a task writes outputs)
+INFO  calibration_results: missing shared namespaced output root (OK until a task writes outputs)
+
+== Summary ==
+OK    completed with no warnings
+........................................................................ [ 82%]
+...............                                                          [100%]
+87 passed in 80.36s (0:01:20)

sessions/session_20260921_225630_786148/runs/lab-a-faithful-photo/evidence/rt_faithful_photo_20261011/prelaunch_final_check.log

@@ -0,0 +1,104 @@
+
+Worktree status:
+  ## cursor/rt_faithful_photo_20261011
+   M belt_perception/real_rgbd/photometric_cma.py
+   M docs/rt5_campaign.md
+   M scripts/run_rt5_campaign.py
+   M tests/test_real_rgbd_rt_photometric_consumers.py
+   M tests/test_rt5_photometric_campaign.py
+
+Canonical status (/mnt/data0/magna/belt_perception):
+  ## main...origin/main
+   m co-tracker
+   ? mvtracker
+
+Initialized submodule branch/remote status:
+  submodule: segment-anything-2
+    branch:          detached@969dad5
+    HEAD:            969dad578a42d4c75624f87821497d37aabfbe99
+    dirty_count:     0
+    origin:          https://github.com/leonmkim/segment-anything-2.git
+    expected_remote: https://github.com/leonmkim/segment-anything-2.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: splinebox
+    branch:          detached@6edb17e
+    HEAD:            6edb17ef22b40176f66d31c57621105067815a2e
+    dirty_count:     0
+    origin:          https://github.com/leonmkim/splinebox.git
+    expected_remote: https://github.com/leonmkim/splinebox.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: third_party/newton
+    branch:          detached@5f4656cd
+    HEAD:            5f4656cd82d34ccdf16f19b5425b3f0181f3b5b0
+    dirty_count:     0
+    origin:          https://github.com/leonmkim/newton.git
+    expected_remote: https://github.com/leonmkim/newton.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: third_party/zdepth
+    branch:          detached@abc01e7
+    HEAD:            abc01e77ed5a905fbd87c2f011cfcf50653cfbda
+    dirty_count:     0
+    origin:          https://github.com/catid/Zdepth.git
+    expected_remote: https://github.com/catid/Zdepth.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: co-tracker
+    branch:          detached@82e02e8
+    HEAD:            82e02e8029753ad4ef13cf06be7f4fc5facdda4d
+    dirty_count:     0
+    origin:          https://github.com/facebookresearch/co-tracker.git
+    expected_remote: https://github.com/facebookresearch/co-tracker.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: third_party/phystwin
+    branch:          detached@41aa14f
+    HEAD:            41aa14f2c554bca7faeef1e807e0651e54a53f7c
+    dirty_count:     0
+    origin:          https://github.com/leonmkim/PhysTwin.git
+    expected_remote: https://github.com/leonmkim/PhysTwin.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: third_party/phystwin_original
+    branch:          detached@81c7187
+    HEAD:            81c718790a37e5e0102eb77af2c6edd34a9db25f
+    dirty_count:     0
+    origin:          https://github.com/Jianghanxiao/PhysTwin.git
+    expected_remote: https://github.com/Jianghanxiao/PhysTwin.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+
+Docs validation:
+Docs validation passed.
+
+Prototype default: no formal artifact promotion unless explicitly requested or a named, already-existing consumer requires the exact payload; never publish without explicit authorization.
+
+===== Agent final-check summary (paste into report) =====
+note: agent_final_check validates checkout hygiene and guardrails.
+      It does not replace focused pytest validation.
+      Prefer scripts/agent_pytest.sh --profile <profile> <tests...>.
+      Manual fallback: uv run --no-sync pytest <tests...>.
+execution_environment: local
+worktree_path: /mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011
+branch:        cursor/rt_faithful_photo_20261011
+marker.branch: cursor/rt_faithful_photo_20261011
+base_commit:   3ce3c625d80ec3a2ad76a79e0ffce7129448e515
+latest_commit: 3ce3c625d80ec3a2ad76a79e0ffce7129448e515
+dirty_status:  5 file(s) changed/untracked entries in worktree
+canonical_path: /mnt/data0/magna/belt_perception
+agent_worktree_root: /mnt/data0/magna
+data_root:      /mnt/data2/magna
+shared_root:    /mnt/data2/magna/belt_perception_shared
+run_root:       /tmp/belt_perception_runs
+scratch_root:   /tmp
+transfer_root:  /mnt/data2/magna/belt_perception_transfers
+uv_cache_root:  /home/magna/.cache/uv
+canonical_branch: main
+canonical_status: OK (on main; only allowed submodule dirt, if any)
+belt.agentGuards: true
+core.hooksPath:   scripts/git-hooks
+=========================================================
+
+Final check passed.

sessions/session_20260921_225630_786148/runs/lab-a-faithful-photo/evidence/rt_faithful_photo_20261011/prepare_full.py

@@ -0,0 +1,70 @@
+"""Bind the approved task through existing native readers; no scoring here."""
+from pathlib import Path
+import json
+import shutil
+import subprocess
+import torch
+import fused_ssim
+import fused_ssim_cuda
+from gsplat.cuda._backend import _C
+from belt_perception.real_rgbd.photometric_cma import load_inputs
+from belt_perception.real_rgbd.photometric_baseline import read_rt_p0_baseline
+from belt_perception.real_rgbd.model_io import sha256_file
+
+ROOT = Path(__file__).resolve().parent
+CWD = Path('/mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011')
+SESSION = Path('/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148')
+TRACK = Path('/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010')
+CONTRACT = TRACK / 'delivery/scan/contract.json'
+FULL = ROOT / 'full_fit_01'
+qual = json.loads((ROOT / 'qualification/driver_summary.json').read_text())
+assert qual['error'] is None and not qual['children_alive_at_end'], qual
+assert qual['projection']['updates'] == 984 and qual['projection']['above_target'] == 0, qual
+assert {'c0001', 'c0002'} <= set(qual['final_counts']['evaluated']), qual
+test_log = Path('/mnt/data0/magna/rt_faithful_photo_20261011_focused_tests.log').read_text()
+assert '87 passed' in test_log and 'failed' not in test_log.split('Summary ==')[-1]
+shutil.copyfile('/mnt/data0/magna/rt_faithful_photo_20261011_focused_tests.log', ROOT / 'focused_tests.log')
+parent, _, binding, inputs = load_inputs(SESSION, 'cuda:0', rt_contract=CONTRACT)
+arrays, p0, _ = read_rt_p0_baseline(parent, inputs, transitions=parent.init.K)
+assert inputs['parent']['candidate'] == 12 and inputs['parent']['selection']['role'] == 'scan_selected'
+assert parent.init.num_all == 729 and parent.init.K == 491
+assert p0['P0'] == 0.0065332682607810175
+runtime = dict(fused_ssim_module=fused_ssim.__file__, fused_ssim_binary=fused_ssim_cuda.__file__,
+               fused_ssim_wrapper_sha256=sha256_file(fused_ssim.__file__),
+               fused_ssim_binary_sha256=sha256_file(fused_ssim_cuda.__file__),
+               gsplat_binary=_C.__file__, gsplat_binary_sha256=sha256_file(_C.__file__))
+for field in ('fused_ssim_wrapper_sha256', 'fused_ssim_binary_sha256'):
+    assert runtime[field] == inputs['objective'][field]
+assert runtime['gsplat_binary_sha256'] == inputs['renderer']['binary_sha256']
+props = torch.cuda.get_device_properties(torch.device('cuda:0'))
+config = dict(campaign_kind='photometric', cwd=str(CWD),
+    revision=subprocess.check_output(['git', 'rev-parse', 'HEAD'], cwd=CWD, text=True).strip(),
+    python=str(CWD / '.venv/bin/python'), lock_sha256=sha256_file(CWD / 'uv.lock'),
+    tracking_input='refit_06', input_root=str(SESSION / 'rt_waft_tapnextpp_mesh_refit_06'),
+    result_root=str(SESSION), tracking_full_root=str(TRACK / 'full_fit_cma250_projadam_01'),
+    full_root=str(FULL), rt_contract=str(CONTRACT), rt_contract_sha256=sha256_file(CONTRACT),
+    photometric_inputs=inputs, transitions=491, p0_score_sha256=sha256_file(Path(inputs['rt_contract']['baseline_dir']) / 'score.json'),
+    observations='cache', handoff_policy='d1_atomic_single_realization_v1', device='cuda:0', eval_device='cuda:0',
+    device_identities={'cuda:0': dict(name=props.name, uuid=str(props.uuid), total_memory=props.total_memory)},
+    cuda_visible_devices='0', concurrent_evaluator=True, candidate_width=2,
+    candidate_width_check=str(ROOT / 'qualification/driver_summary.json'),
+    photometric_coexistence_check=str(ROOT / 'qualification/driver_summary.json'),
+    execution_owner='Codex RT-FAITHFUL-PHOTO owner; current task launch and all compute authorized',
+    cp2r_revision='426a482897e87394e5d9362e4aec71e759945c2a',
+    cp2r_audit='docs/experiments/phystwin_cma_candidate_parallelism_cp2r_audit_20261001.md',
+    runner_audit='Existing RT-PHOTO-LIFECYCLE/RT-D12/RT-D15 reviews retained; narrow refit06/build-locator fixes at '+
+                 subprocess.check_output(['git','rev-parse','HEAD'],cwd=CWD,text=True).strip()+
+                 '; 87 focused tests, bounded source review and task native qualification; later independent execution audit separate',
+    service_preflight='', telemetry_online=False, projected_log_y=True,
+    tmux_server='rt5_refit06_faithful_photo_20261011', tmux_session='campaign',
+    run_name='rt_mesh_refit06_photometric_scan_c0012_projadam_01')
+assert config['revision'].startswith('e80a85d1')
+with (ROOT / 'run_config.json').open('x') as f:
+    json.dump(config, f, indent=2)
+readiness = dict(parent_candidate=12, role='scan_selected', P0=p0['P0'], A=729, K=491,
+                 original_p0_arrays=str(arrays), binding=inputs['rt_contract']['binding_path'],
+                 runtime=runtime, qualification_summary=qual, code=config['revision'],
+                 collector_identity=config['run_name'], telemetry_online=False,
+                 appearance_findings='Known grasp-side smearing and silhouette/depth mismatch preserved; no remedy')
+(ROOT / 'readiness.json').write_text(json.dumps(readiness, indent=2))
+print(json.dumps({k:readiness[k] for k in ('parent_candidate','role','P0','A','K','code','collector_identity','telemetry_online')},indent=2))

sessions/session_20260921_225630_786148/runs/lab-a-faithful-photo/evidence/rt_faithful_photo_20261011/qualification.log

@@ -0,0 +1,256 @@
+{
+  "error": null,
+  "projection": {
+    "updates": 984,
+    "target": 11.512925148010254,
+    "max_raw": 11.512925148010254,
+    "above_target": 0,
+    "at_target": 418,
+    "below_1e5": 19265
+  },
+  "phases_s": {
+    "A_cma_g1_w2": 168.03584575653076,
+    "B1_train_stop2": 59.01459074020386,
+    "B2_trainer_wall": 159.04909563064575,
+    "B2_overlap_until_c0002": 180.05901312828064,
+    "C_collector": 7.00286865234375
+  },
+  "events": [
+    {
+      "event": "start",
+      "name": "A_cma_g1_w2",
+      "pid": 333874,
+      "t": 1791732476.7300181,
+      "argv": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011/.venv/bin/python",
+        "-u",
+        "scripts/real_rgbd_photometric_cma.py",
+        "--result-root",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148",
+        "--rt-contract",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/delivery/scan/contract.json",
+        "--observations",
+        "cache",
+        "--observation-cache",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/observation_cache/v1_0058966e635f5429",
+        "--run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/cma",
+        "--device",
+        "cuda:0",
+        "--transitions",
+        "491",
+        "--max-generations",
+        "1",
+        "--candidate-width",
+        "2",
+        "--handoff-policy",
+        "d1_atomic_single_realization_v1"
+      ]
+    },
+    {
+      "event": "exit",
+      "name": "A_cma_g1_w2",
+      "pid": 333874,
+      "t": 1791732644.7655368,
+      "code": 0
+    },
+    {
+      "event": "start",
+      "name": "B1_train_stop2",
+      "pid": 338240,
+      "t": 1791732644.7660513,
+      "argv": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011/.venv/bin/python",
+        "-u",
+        "scripts/real_rgbd_photometric_adam.py",
+        "train",
+        "--run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/adam",
+        "--cma-run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/cma",
+        "--result-root",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148",
+        "--rt-contract",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/delivery/scan/contract.json",
+        "--observations",
+        "cache",
+        "--observation-cache",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/observation_cache/v1_0058966e635f5429",
+        "--device",
+        "cuda:0",
+        "--handoff-policy",
+        "d1_atomic_single_realization_v1",
+        "--complete-traversals",
+        "500",
+        "--checkpoint-every-updates",
+        "100",
+        "--projected-log-y",
+        "--stop-after-updates",
+        "2"
+      ]
+    },
+    {
+      "event": "exit",
+      "name": "B1_train_stop2",
+      "pid": 338240,
+      "t": 1791732703.7801669,
+      "code": 0
+    },
+    {
+      "event": "start",
+      "name": "B2_train_resume_984",
+      "pid": 339448,
+      "t": 1791732703.7806206,
+      "argv": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011/.venv/bin/python",
+        "-u",
+        "scripts/real_rgbd_photometric_adam.py",
+        "train",
+        "--run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/adam",
+        "--cma-run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/cma",
+        "--result-root",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148",
+        "--rt-contract",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/delivery/scan/contract.json",
+        "--observations",
+        "cache",
+        "--observation-cache",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/observation_cache/v1_0058966e635f5429",
+        "--device",
+        "cuda:0",
+        "--handoff-policy",
+        "d1_atomic_single_realization_v1",
+        "--complete-traversals",
+        "500",
+        "--checkpoint-every-updates",
+        "100",
+        "--projected-log-y",
+        "--resume",
+        "--stop-after-updates",
+        "984"
+      ]
+    },
+    {
+      "event": "start",
+      "name": "B2_evaluator_follow",
+      "pid": 339449,
+      "t": 1791732703.7810469,
+      "argv": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011/.venv/bin/python",
+        "-u",
+        "scripts/real_rgbd_photometric_adam.py",
+        "evaluate-pending",
+        "--run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/adam",
+        "--cma-run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/cma",
+        "--result-root",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148",
+        "--rt-contract",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/delivery/scan/contract.json",
+        "--observations",
+        "cache",
+        "--observation-cache",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/observation_cache/v1_0058966e635f5429",
+        "--device",
+        "cuda:0",
+        "--follow",
+        "--poll-seconds",
+        "5"
+      ]
+    },
+    {
+      "event": "exit",
+      "name": "B2_train_resume_984",
+      "pid": 339448,
+      "t": 1791732862.8292632,
+      "code": 0
+    },
+    {
+      "event": "sigint",
+      "name": "B2_evaluator_follow",
+      "pid": 339449,
+      "t": 1791732883.8391957
+    },
+    {
+      "event": "exit",
+      "name": "B2_evaluator_follow",
+      "pid": 339449,
+      "t": 1791732884.7041872,
+      "code": -2
+    },
+    {
+      "event": "start",
+      "name": "C_collector_offline",
+      "pid": 343186,
+      "t": 1791732884.7046235,
+      "argv": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011/.venv/bin/python",
+        "-u",
+        "scripts/real_rgbd_photometric_cma_telemetry.py",
+        "--run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/cma",
+        "--adam-run",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/adam",
+        "--out",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/telemetry-offline",
+        "--run-name",
+        "rt_mesh_refit06_photometric_scan_c0012_qualification_local_01"
+      ]
+    },
+    {
+      "event": "exit",
+      "name": "C_collector_offline",
+      "pid": 343186,
+      "t": 1791732889.706034,
+      "code": 0
+    },
+    {
+      "event": "start",
+      "name": "C_diagnose_payload",
+      "pid": 343331,
+      "t": 1791732889.706486,
+      "argv": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011/.venv/bin/python",
+        "-u",
+        "scripts/real_rgbd_photometric_cma_telemetry.py",
+        "--out",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/telemetry-offline",
+        "--diagnose-payload"
+      ]
+    },
+    {
+      "event": "exit",
+      "name": "C_diagnose_payload",
+      "pid": 343331,
+      "t": 1791732891.7070556,
+      "code": 0
+    }
+  ],
+  "children_alive_at_end": [],
+  "peak_rss_mib": {
+    "A_cma_g1_w2": 25583.52734375,
+    "B1_train_stop2": 25646.94140625,
+    "B2_train_resume_984": 25685.3984375,
+    "B2_evaluator_follow": 25376.1875,
+    "C_collector_offline": 779.4296875,
+    "C_diagnose_payload": 598.26953125
+  },
+  "max_backlog": 1,
+  "final_counts": {
+    "snapshots": [
+      "c0000",
+      "c0001",
+      "c0002",
+      "p0000"
+    ],
+    "evaluated": [
+      "c0000",
+      "c0001",
+      "c0002",
+      "p0000"
+    ]
+  }
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-photo/evidence/rt_faithful_photo_20261011/qualification/driver_summary.json

@@ -0,0 +1,256 @@
+{
+  "error": null,
+  "projection": {
+    "updates": 984,
+    "target": 11.512925148010254,
+    "max_raw": 11.512925148010254,
+    "above_target": 0,
+    "at_target": 418,
+    "below_1e5": 19265
+  },
+  "phases_s": {
+    "A_cma_g1_w2": 168.03584575653076,
+    "B1_train_stop2": 59.01459074020386,
+    "B2_trainer_wall": 159.04909563064575,
+    "B2_overlap_until_c0002": 180.05901312828064,
+    "C_collector": 7.00286865234375
+  },
+  "events": [
+    {
+      "event": "start",
+      "name": "A_cma_g1_w2",
+      "pid": 333874,
+      "t": 1791732476.7300181,
+      "argv": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011/.venv/bin/python",
+        "-u",
+        "scripts/real_rgbd_photometric_cma.py",
+        "--result-root",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148",
+        "--rt-contract",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/delivery/scan/contract.json",
+        "--observations",
+        "cache",
+        "--observation-cache",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/observation_cache/v1_0058966e635f5429",
+        "--run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/cma",
+        "--device",
+        "cuda:0",
+        "--transitions",
+        "491",
+        "--max-generations",
+        "1",
+        "--candidate-width",
+        "2",
+        "--handoff-policy",
+        "d1_atomic_single_realization_v1"
+      ]
+    },
+    {
+      "event": "exit",
+      "name": "A_cma_g1_w2",
+      "pid": 333874,
+      "t": 1791732644.7655368,
+      "code": 0
+    },
+    {
+      "event": "start",
+      "name": "B1_train_stop2",
+      "pid": 338240,
+      "t": 1791732644.7660513,
+      "argv": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_photo_20261011/.venv/bin/python",
+        "-u",
+        "scripts/real_rgbd_photometric_adam.py",
+        "train",
+        "--run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/adam",
+        "--cma-run-dir",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_photo_20261011/qualification/cma",
+        "--result-root",
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