processed/090-sloth/episode_0/preprocessing/gripper-occluders-aligned0050-0218-u08b-d2-20261014: package_final batch 1/1

processed/090-sloth/episode_0/preprocessing/gripper-occluders-aligned0050-0218-u08b-d2-20261014/artifact.json

@@ -0,0 +1,305 @@
+{
+  "acknowledged_record_mismatches": [],
+  "aliases": [],
+  "dependencies": [
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+      "role": "equal-bytes payload of processed/090-sloth/episode_0/preprocessing/gripper-occluders-aligned0050-0218-u08b-d2-20261014/native/controller_outside_3px.json",
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+  "disclosed_exceptions": [],
+  "episode_id": "episode_0",
+  "existing_recording_references": [],
+  "families": [
+    {
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+          "brics-odroid-022_cam1",
+          "brics-odroid-023_cam0",
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+              "reason": "ok",
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+              "verified": true
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+            "loaded_with": "deform360.load_robot_state(trusted_legacy_pickle=True)",
+            "path": "processed/090-sloth/episode_0/robot/robot.npy"
+          }
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+        "image_size_wh": [
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+          720
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+        "manifest": "manifest.json",
+        "masks": {
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+          "encoding": "per camera <camera>.npz: bit-packed bool silhouette_packed and H_packed with shape; np.unpackbits(..., count=prod(shape), bitorder='little').reshape(shape)",
+          "rasterization": "all five visual meshes; root-frame yourdfpy graph; round pixel coordinates; one cv2.fillPoly per triangle; OR union",
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+            "reason": "review rendering no fit reads (owner D18); not published, its manifest entries kept"
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+            "present": 24,
+            "reason": "review rendering no fit reads (owner D18); not published, its manifest entries kept"
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+            "present": 4,
+            "reason": "review rendering no fit reads (owner D18); not published, its manifest entries kept"
+          }
+        },
+        "not_listed_by_occluder_manifest": [],
+        "schema": "belt_perception.deform360_gripper_occluders/v1",
+        "signoff": {
+          "accepted_at_utc": "2026-10-14T22:28:21.112181+00:00",
+          "accepted_by": "owner (current conversation, U08b D2 session)",
+          "accepted_scope": "U08b D2 prefit gripper silhouette/H RGB overlay review and gated controls for four cameras, 090-sloth episode 0 aligned frames 50..218",
+          "hc1_basis": {
+            "clamped_openings": "14 frames below the 40 mm URDF clamp (min 35.7 mm at 63) render fingers at the closed limit; release joint map unchanged (owner informed)",
+            "controller_diagnostic": "controller_outside_3px.json is empty: all 30 controllers within 3 px of the silhouette in every view/frame",
+            "diagnostic_controls": "D2 composed fit_inputs/inputs scene.npz (source_initialization.npz); no fitted model",
+            "inspected": "qualification/review/control_h/control_h_050_063_134_218.png; producer review_sheets/videos"
+          },
+          "owner_acceptance_line": "Sign off as-is (Recommended)",
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+          "contiguous": true,
+          "domain": "Deform360 published aligned frame index (shared by every camera of the episode)",
+          "frame_count": 169
+        }
+      },
+      "family": "occluders",
+      "notes": [],
+      "reader": "deform_occluders",
+      "status": "accepted"
+    },
+    {
+      "facts": {},
+      "family": "evidence",
+      "notes": [],
+      "reader": "files",
+      "status": "accepted"
+    }
+  ],
+  "gaps": [],
+  "kind": "preprocessing",
+  "license": {
+    "id": "MIT",
+    "scope": "DAIRLab-produced gripper occluder masks, gripper poses, sign-off and records in this directory only (D9). They derive from the upstream Deform360 robot state and UMI gripper meshes, which keep their own terms (D12 is the owner's interpretation for processed Deform360 assets, not an upstream declaration)."
+  },
+  "materialized_files": [
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+      "path": "native/controller_outside_3px.json",
+      "reason": "equal sha256 and size to the planned payload",
+      "roles": [
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+    {
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+      "roles": [
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+        "occluders:occluder_signoff"
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+  "not_selected": [
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+      "files": 676,
+      "path": "overlap_images",
+      "reason": "review rendering no fit reads (owner D18); its manifest entries stay in the unchanged manifest.json"
+    },
+    {
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+      "files": 24,
+      "path": "review_sheets",
+      "reason": "review rendering no fit reads (owner D18); its manifest entries stay in the unchanged manifest.json"
+    },
+    {
+      "bytes": 5712355,
+      "files": 4,
+      "path": "videos",
+      "reason": "review rendering no fit reads (owner D18); its manifest entries stay in the unchanged manifest.json"
+    }
+  ],
+  "notes": [
+    "Consumed by deform-sloth-ep0-d2-photo (photometric_run_identity.json identity.occluders names this sign-off, manifest and mask digests). The photometric_views bundle's other files are the authors' data (referenced by that model's dependencies.json) or that fit's own camera choice (its package)."
+  ],
+  "object_id": "090-sloth",
+  "relocation": {
+    "path_in_repo": "processed/090-sloth/episode_0/preprocessing/gripper-occluders-aligned0050-0218-u08b-d2-20261014/native",
+    "recorded_root": "/mnt/data0/magna/belt_perception_runs/U08b_D2_090-sloth_ep0/views/inputs/photometric_views/occluders",
+    "resolved_root": "/mnt/data0/magna/belt_perception_runs/U08b_D2_090-sloth_ep0/views/inputs/photometric_views/occluders",
+    "rule": "native/<path relative to the recorded root>; native records keep recorded paths"
+  },
+  "repo_id": "DAIRLab/deform360_phystwin_dataset",
+  "schema": "phystwin_dataset_artifact_v1",
+  "status": {
+    "evidence": [
+      {
+        "dated": {},
+        "path_in_repo": "processed/090-sloth/episode_0/preprocessing/gripper-occluders-aligned0050-0218-u08b-d2-20261014/native/review_signoff_occluder.json"
+      }
+    ],
+    "label": "accepted",
+    "note": "Owner sign-off of the U08b D2 prefit silhouette/H overlays and gated controls for the four cameras ('Sign off as-is (Recommended)', 2026-10-14)."
+  },
+  "time": null,
+  "unknowns": [],
+  "variant_id": "gripper-occluders-aligned0050-0218-u08b-d2-20261014",
+  "window_id": null
+}