sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1: payload batch 4/4

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/mech_center_ribbon_argv.json

@@ -0,0 +1,14 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/mech_center_ribbon_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 848.116894227991
+}

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision.log

@@ -0,0 +1,46 @@
+{
+ "populations": {
+  "P_chamfer_targets": 3111,
+  "genuine_t_pairs": 1160,
+  "N": 1160,
+  "S": 1361,
+  "A": 1361,
+  "added_surface": 201,
+  "interior": 0,
+  "controls": 30,
+  "controls_by_hand": {
+   "hand_A": 22,
+   "hand_B": 8
+  }
+ },
+ "initialization_groups": {
+  "initialized_original": 1160,
+  "in_band_not_initialized": 1870,
+  "outside_initial_band": 81
+ },
+ "denominators": {
+  "D_C": 3091,
+  "D_T": 1119,
+  "rule": "RT-S2, fixed for the whole run; C/T weights unchanged"
+ },
+ "graph": {
+  "object_springs": 22621,
+  "controller_springs": 708,
+  "object_rest_min_max_m": [
+   0.00048790211440064013,
+   0.019989095628261566
+  ],
+  "controller_rest_min_max_m": [
+   0.003546736901625991,
+   0.03999388590455055
+  ],
+  "isolated_object_nodes": 0,
+  "attached_object_nodes": 165,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 580,
+   "hand_B": 128
+  }
+ },
+ "passed": true
+}

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json

@@ -0,0 +1,14 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 511.6048099720065
+}

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/mech_ribbon_argv.json

@@ -0,0 +1,36 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232344_289067",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "a2a9728d596afe59e4da785c0d1c60c54cbefc7b19c69fff2582496a7357ba15",
+    "--accepted-prior-manifest-sha256",
+    "7ee8aeb6bb0c3b0162729dc714f3a6413052c659d8a910313f0395313c7689d6",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/prior_timing_v1",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/mech_ribbon_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 914.4122679370048
+}

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json

@@ -0,0 +1,40 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232344_289067",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "a2a9728d596afe59e4da785c0d1c60c54cbefc7b19c69fff2582496a7357ba15",
+    "--accepted-prior-manifest-sha256",
+    "7ee8aeb6bb0c3b0162729dc714f3a6413052c659d8a910313f0395313c7689d6",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1/mesh/binding.json",
+    "--premesh-fitting",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/rt3_lifts/fitting",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232344_289067/window_anchor0308-0680/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 703.6219682480005
+}

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md

@@ -0,0 +1,53 @@
+# session_20260921_232344_289067 — initial prior approved by owner
+
+Saved C2 **grey_timing_belt** prior evidence (width 25.00 mm, zero-thickness surface). An agent has inspected 22 saved panels and nine selected orbit frames; [the findings](agent_findings.json) record the numerical checks, visual observations and limitations. Owner prior approval remains pending. This packet records no acceptance.
+
+Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](<prior_metrics.json>).
+
+| Camera | Local / converted / native | Centerline / geometry / native input |
+|---|---|---|
+| 12540311 | 0 / 308 / 309 | [centerline](<../prior_timing_v1/review/spline/centerline_0_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 0 / 307 / 308 | [centerline](<../prior_timing_v1/review/spline/centerline_1_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_1_12933256.png>) |
+| 17736741 | 0 / 308 / 309 | [centerline](<../prior_timing_v1/review/spline/centerline_2_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_2_17736741.png>) |
+| 23007103 | 0 / 308 / 309 | [centerline](<../prior_timing_v1/review/spline/centerline_3_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_timing_v1/review/ribbon/orbit.mp4>) · [Geometry and depth cloud](<../prior_timing_v1/review/ribbon/ribbon_scale_views.png>) · [Residual histograms](<../prior_timing_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_timing_v1/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **665.153 mm**, maximum curvature **13.335/m**, final gradient norm **1.92269e-07**. Soft length bounds are 664.000–666.000 mm; distance outside those bounds is 0.000 mm.
+
+The timing prior has a separate stage 2 with the centerline frozen: **9 twist iterations**, saved success `True`, stop `CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH`. [Twist and width directions](<../prior_timing_v1/review/ribbon/twist_and_width_direction.png>).
+
+Saved geometry checks report `passed=True`: **450 mesh vertices / 720 triangles**, 1 component(s), `watertight=False`, `self_intersecting=False`. [Full geometry checks](<../prior_timing_v1/ribbon/ribbon_checks.json>).
+
+The following 3D residuals are lifted-depth point distances to the **ribbon surface**, not measured reconstruction errors. The fraction of visible projected ribbon surface samples inside the mask is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision.
+
+| Camera | Median / p90 3D residual (mm) | Visible ribbon surface inside mask | Native depth and visibility evidence |
+|---|---|---|---|
+| 12540311 | 2.924 / 7.354 | 90.98% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) |
+| 12933256 | 1.648 / 3.992 | 90.92% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) |
+| 17736741 | 2.670 / 6.380 | 92.94% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) |
+| 23007103 | 3.435 / 8.425 | 91.36% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) |
+
+The saved statistical filter used 20 neighbours / 2 sigma and kept **33871 of 35085** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **33871 observed + 21600 mesh-derived = 55471 seeds**. Vertex colors are observed for 393 mesh vertices and median-filled for 57. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages.
+
+[Appearance seed populations](<../prior_timing_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_timing_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>)
+
+[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>)
+
+[Manifest](<../prior_timing_v1/manifest.json>) · [Fit settings and metrics](<../prior_timing_v1/steps/fit.json>) · [Reference observations](<../prior_timing_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+The completed [agent findings](agent_findings.json) cover the 22 named panels and nine sampled orbit frames. Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here.
+
+Agent review: the modeled ribbon follows the broad visible arcs in all four cameras. Both hands and the foreground forearm/sleeve are treated as occluders; camera 12933256 has substantial arm occlusion. Small edge mismatches remain, and the hidden grasp arcs are prior completion rather than direct observations. The sampled orbit shows one upright loop without a visible fold, twist flip or detached component.
+
+The surface reaches **z = −5.563 mm** below the nominal table plane; it is not table-constrained. No depth correction, translation or snapping was applied. The read-only local-table depth diagnostic varies across views, and this registration limitation matters before interpreting simulated contact.
+
+**Saved plot-label limitation:** the linked residual-histogram image says “centerline residual”; for this ribbon run, its values are **point-to-ribbon-surface distances**. The original image and source are preserved; the table above uses the correct surface interpretation.
+
+Stage 2 improved its own surface objective by **4.21%** with the centerline fixed. Stage 1 and stage 2 use different mask terms, so their total losses are not directly comparable. Length remains inside the 664–666 mm soft interval; no twist knot reached its bound. The saved geometry has two intended open width edges, so `watertight=false` is expected for this zero-thickness surface.
+
+## Owner decision, 2026-10-28
+
+“Approve 232344’s initial prior”. Accept this initial 25 mm zero-thickness ribbon prior for surface-only mechanical inputs and reference static appearance, retaining the disclosed table-registration and hidden-grasp limitations. Trained appearance acceptance and physical fitting remain separate.

sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json

@@ -0,0 +1,665 @@
+{
+  "case": "session_20260921_232344_289067/window_anchor0308-0680",
+  "reviewed_at_utc": "2026-10-28T19:49:22.098303+00:00",
+  "review_kind": "bounded agent review of completed C2 initial 25 mm timing-ribbon prior",
+  "readiness": "ready_for_owner_initial_prior_review_with_recorded_table_registration_and_occlusion_limitations",
+  "blocking_findings_for_initial_prior": [],
+  "owner_prior_approval": "pending; this record grants no acceptance or downstream authorization",
+  "scope": {
+    "goal": "Review initial grey ribbon under the existing approved two-stage recipe.",
+    "done_when": "22 actual panels, nine selected orbit frames and actual two-stage metrics/bounds inspected; findings and package complete.",
+    "non_goals": [
+      "No refit, source/science changes, input corrections or geometry snapping",
+      "No owner/global records or approvals",
+      "No downstream mechanics, static appearance training or dynamic fit"
+    ],
+    "validation": "All eight prior command result records verified; saved point residuals recomputed from arrays; frozen stage2 centerline and final trajectory identity checked. Actual visual coverage is explicitly enumerated below."
+  },
+  "image_path_base": "../prior_timing_v1/review",
+  "inspected_images": [
+    "inputs/view_0_12540311.png",
+    "inputs/view_1_12933256.png",
+    "inputs/view_2_17736741.png",
+    "inputs/view_3_23007103.png",
+    "spline/centerline_0_with_masks.png",
+    "spline/centerline_1_with_masks.png",
+    "spline/centerline_2_with_masks.png",
+    "spline/centerline_3_with_masks.png",
+    "ribbon/silhouette_0_with_masks.png",
+    "ribbon/silhouette_1_with_masks.png",
+    "ribbon/silhouette_2_with_masks.png",
+    "ribbon/silhouette_3_with_masks.png",
+    "ribbon/silhouette_0_unmasked.png",
+    "ribbon/silhouette_1_unmasked.png",
+    "ribbon/silhouette_2_unmasked.png",
+    "ribbon/silhouette_3_unmasked.png",
+    "ribbon/ribbon_scale_views.png",
+    "spline/residual_histograms.png",
+    "inputs/depth_offset.png",
+    "colors/visibility_and_fill.png",
+    "hybrid/combined.png",
+    "ribbon/twist_and_width_direction.png"
+  ],
+  "inspected_videos": {
+    "../prior_timing_v1/review/ribbon/orbit.mp4": {
+      "frame_count": 36,
+      "fps": 12.0,
+      "duration_s": 3.0,
+      "visually_inspected_frame_indices": [
+        0,
+        4,
+        8,
+        13,
+        17,
+        21,
+        26,
+        30,
+        35
+      ],
+      "method": "Nine selected frames inspected individually; this is not a continuous-playback claim. Orbit renders sampled ribbon vertices."
+    }
+  },
+  "inspected_data": [
+    "../prior_timing_v1/steps/fit.json",
+    "../prior_timing_v1/ribbon/ribbon_checks.json",
+    "../prior_timing_v1/spline/reprojection.json",
+    "../prior_timing_v1/inputs/depth_offset_diagnostic.json",
+    "../prior_timing_v1/spline/spline_stage1.json",
+    "../prior_timing_v1/spline/spline_fit.json",
+    "../prior_timing_v1/spline/residuals.npz",
+    "../prior_timing_v1/spline/rounds.jsonl",
+    "../prior_timing_v1/spline/twist_trajectory.jsonl",
+    "../prior_timing_v1/steps/colors.json",
+    "../prior_timing_v1/steps/hybrid.json",
+    "prior_metrics.json"
+  ],
+  "saved_metrics": {
+    "representation": {
+      "name": "grey_timing_belt",
+      "representation": "ribbon",
+      "fitter_source": "spline_estimation.timing_belt_fitting (scratch/test_timing_belt_perception.py)",
+      "dimension_source": "demonstrated 25 mm width; surface only, no interior (corpus Q1, 2026-10-25)",
+      "radius_m": null,
+      "ribbon_width_m": 0.025,
+      "step_t": 0.1,
+      "step_angle_deg": null,
+      "u_resolution": 5,
+      "overlap_rule": null,
+      "twist_penalty": {
+        "samples": 250,
+        "threshold_per_m": 10.0,
+        "huber_per_m": 30.0,
+        "cap_per_m": 80.0,
+        "weight": 5e-08
+      }
+    },
+    "stage1_rounds": 1,
+    "stage1_stop": "gradient_tolerance",
+    "stage1_final": {
+      "loss": 6.216802285052836e-05,
+      "components": {
+        "distance": 7.560265203210292e-06,
+        "curvature": 1.0450064813483095e-08,
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+    "final_raw_theta_matches_last_trajectory": true,
+    "stage1_last_round_matches_record": true
+  },
+  "visual_findings": [
+    "All four initial RGB/object/occluder panels show the intended grey timing ribbon and both hand/forearm regions admitted as occluders; the bracelet is covered in view12540311. View12933256 has substantial forearm/sleeve occlusion, with only the upper arc and a short lower segment directly visible.",
+    "Centerlines and rendered ribbon silhouettes follow the broad visible loop in all four views. Small edge mismatches remain, particularly in12540311 and17736741. Shape under the hands is a prior completion and is not directly observed evidence.",
+    "The red ribbon overlays are drawn over occluded hand/forearm image areas for review; that drawing alone does not establish physical hand penetration. The accepted occlusion union is excluded from the mask term.",
+    "The nine orbit samples show one upright ribbon loop with smooth width-direction changes, no visible disconnected component, gross fold, twist flip or local collapse. Saved exact geometry tests independently report one component, no degenerate triangles and no self-intersection.",
+    "Spatial cloud and hybrid panels show a broad depth band around the modeled ribbon, with view-dependent residual spread; the seed populations retain observed points plus surface-derived seeds. Appearance initialization is not trained appearance.",
+    "Observed vertex colors cover393 of450 mesh vertices;57 are median-filled, visible in the color-fill panel."
+  ],
+  "limitations": [
+    {
+      "kind": "table_registration",
+      "evidence": "Saved surface minimum z=-5.5630938mm below nominal table z=0; maximum z=24.8872731mm. Read-only depth belt-minus-local-table medians are12.569,8.621,5.440,11.904mm across cameras.",
+      "meaning": "The current prior is not table-constrained. This matters when interpreting contact/registration in downstream physics; no correction, snap, depth offset or replacement geometry was applied."
+    },
+    {
+      "kind": "occlusion_and_metric_interpretation",
+      "evidence": "Visible projected ribbon-surface samples inside mask are90.98%,90.92%,92.94%,91.36%; all views include hand occlusion and12933256 is heavily occluded.",
+      "meaning": "Coverage is not silhouette IoU, a centerline metric, or ground-truth reconstruction accuracy. Hidden grasp arcs cannot be directly approved from masks alone; owner should inspect the images."
+    },
+    {
+      "kind": "inherited_plot_label",
+      "evidence": "../prior_timing_v1/review/spline/residual_histograms.png labels the x-axis centerline residual [mm].",
+      "meaning": "The saved residual array and this timing run actually measure point-to-ribbon-SURFACE distance. The new packet explicitly discloses this inherited label; original media/source are preserved."
+    },
+    {
+      "kind": "surface_representation",
+      "evidence": "Saved geometry is a25mm zero-thickness ribbon with450vertices/720triangles, two open width-edge loops and watertight=false.",
+      "meaning": "Open width edges are intended for this representation; no thickness or interior population is supplied."
+    }
+  ],
+  "no_scientific_changes": true,
+  "prior_command_results": {
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sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json

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