sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786: payload batch 1/2

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/C6A_REVIEW.md

@@ -0,0 +1,40 @@
+# session_20260921_225744_574043: C6a proposal review
+
+**Status: agent proposal; owner mask/window/contact decisions pending.**
+
+Object: taped round belt. Motion: right-handed lift completely off the table, tilt hand and object and compress against table, then place down.
+Current packet anchor converted frames: **302–786 inclusive**.
+Current packet endpoint sync timestamps: `1790045899156119938` / `1790045915380481963` ns.
+Participating identities: `hand_A`; A is the right, bracelet-wearing hand, B the left.
+Hands mean visible bare forearm through fingertips, excluding bracelet/sleeve. Occluder means the whole visible person, including clothing, accessories and nonparticipating hands.
+
+C1 evidence: `/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_proposal_c1/proposal.json`.
+
+**Unequal counts:** the four products below each consume only their named camera’s own column. Other nearest-camera columns in those NPZ files are not admitted source clocks. C1a is required before tracking/lifting/fitting-input consumers use this case.
+
+## Exact own-camera mapping
+
+| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns |
+|---|---|---|---|---|
+| 12540311 | 0–484 | 302–786 | 303–787 | 1790045899156119938 / 1790045915380481963 |
+| 12933256 | 0–485 | 302–787 | 303–788 | 1790045899166424200 / 1790045915390452283 |
+| 17736741 | 0–485 | 302–787 | 303–788 | 1790045899153567456 / 1790045915377715513 |
+| 23007103 | 0–485 | 302–787 | 303–788 | 1790045899140610717 / 1790045915397045427 |
+
+## Review products
+
+The newest completed media for each view/role currently present are listed below. A correction directory may cover only its changed views/roles; its media_index.json lists the exact coverage. Earlier prompts, propagation runs and media remain on disk. A new correction can make an older media directory historical; use current supplier admission before signoff or downstream processing.
+
+- Views 12540311: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_accessory_sparse_v2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_accessory_sparse_v2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_accessory_sparse_v2/boundary_end.mp4).
+- Views 12540311: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_v1/boundary_end.mp4).
+- Views 12933256: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_accessory_sparse_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_accessory_sparse_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_accessory_sparse_v1/boundary_end.mp4).
+- Views 12933256: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_v1/boundary_end.mp4).
+- Views 17736741: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v3/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v3/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v3/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v3/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v3/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v3/boundary_end.mp4).
+- Views 17736741: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v4/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v4/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v4/boundary_end.mp4).
+- Views 23007103: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/review_media_c6a_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/review_media_c6a_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/review_media_c6a_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/review_media_c6a_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/review_media_c6a_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/review_media_c6a_v1/boundary_end.mp4).
+
+## Decisions and downstream boundary
+
+This card records the decisions above and grants no additional stage. Actual owner mask/window decisions must be recorded before final tracking. The three pushes also require an explicit decision about the fixed material-attachment approximation. After prompt corrections, perform fresh current-input admission; an old fitting identity alone does not detect every C1 F3 correction.
+
+C6a review findings and decisions are collected under `lab/c6a_20261027/`; source C1 records and protected A/B inputs remain unchanged.

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "58eaeafa6130c64d470842ef7d8a7f105613b9ae3e23c9893a68aa4b9db5b995",
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+  "instance": "hand_A",
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+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
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+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
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+      850.0
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+    798.0,
+    848.0,
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+  "source": "agent:c6a_20261027",
+  "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and orange belt.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "f1ddcf00b4f71b8a8511530265517609b9145c349ebbebe007a092727801e933",
+  "seed_mask_pixels": 28611,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-27T19:36:05Z"
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz

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sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "58eaeafa6130c64d470842ef7d8a7f105613b9ae3e23c9893a68aa4b9db5b995",
+    "serials": [
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+      "17736741",
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+    "anchor_time_ns_first_last": [
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+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_B",
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+  "points_uv": [],
+  "labels": [],
+  "box_uv": null,
+  "source": "agent:c6a_20261027",
+  "note": "Draft: no participating left hand in this one-hand interaction. Any visible nonparticipating left hand belongs only to occluder.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "6e854e62e28996ac78abed3a72856e00f27ba852d1e4f076149062d512afe1d0",
+  "seed_mask_pixels": 0,
+  "seed_model": {
+    "predictor": "agent_proposed_absence"
+  },
+  "created_utc": "2026-10-27T19:36:05Z",
+  "reviewed_absence_half_open": [
+    0,
+    485
+  ]
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "58eaeafa6130c64d470842ef7d8a7f105613b9ae3e23c9893a68aa4b9db5b995",
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+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
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+  "source": "agent:c6a_20261027",
+  "note": "Draft exact native t=0 orange round-belt pixels only, including visible dark seam; exclude interior table, hand and shadow.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "d147cc3229b0d2410a5e05f85b64aa342e92319271652058a2fbdc6830a4efef",
+  "seed_mask_pixels": 8735,
+  "seed_model": {
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+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-27T19:36:05Z"
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz

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sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/occluder/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
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sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/occluder/run0001_t0000-0485.npz

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sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/occluder/run0002_t0000-0485.npz

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sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/phystwin_window.yaml

@@ -0,0 +1,88 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043
+  session_id: session_20260921_225744_574043
+annotation_interface:
+  method: rerun
+  rerun_timeline: sync_time_ns
+  rerun_launch_command: uv run --no-sync python -m dataset_converter.visualize_rerun
+    --session-path /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043
+    --sensor-types zed
+  timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the
+    current integer-nanosecond timestamp at the desired start/end moments.
+  notes: ''
+timebase:
+  policy: native_anchor_overlap
+  sync_policy: AnchorStreamSyncPolicy
+  overlap: true
+  anchor_serial: '12540311'
+  anchor_stream_id: zed_12540311_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33442400
+  fps_estimate: 29.90216
+manual_annotation:
+  start_global_timestamp_ns: 1790045899156119938
+  end_global_timestamp_ns: 1790045915380481963
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 1
+  object_description: taped round belt
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Fingertips reach the near end of the loop ~296-300 (12933256: fingertips
+    above loop at 296-298, touching at 300-302; anchor: fingers over loop end from
+    296). 302 = first frame with contact confirmed in both opposing views. Single
+    fist/pinch grip on the same end persists through lift (~360-420), hanging carry
+    (~420-530), hand tilt and lowering (~530-560), compression of the loop against
+    the table (~560-632, loop flattened under the fist), re-lift (~640-720), set-down
+    (~744-776) and hold on table. Release: anchor 787 fingers start extending, 12933256
+    788 (=anchor 787) fingers open; 786 = last held frame.'
+resolved_window:
+  start_sync_index: 301
+  end_sync_index_exclusive: 786
+  start_anchor_timestamp_ns: 1790045899156119938
+  end_anchor_timestamp_ns: 1790045915380481963
+  frame_count: 485
+  duration_s: 16.224362
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 787
+    start_source_timestamp_ns: 1790045899156119938
+    end_source_timestamp_ns: 1790045915380481963
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '12933256':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899166424200
+    end_source_timestamp_ns: 1790045915390452283
+    start_delta_ns: 10304262
+    end_delta_ns: 9970320
+  '17736741':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899153567456
+    end_source_timestamp_ns: 1790045915377715513
+    start_delta_ns: -2552482
+    end_delta_ns: -2766450
+  '23007103':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899140610717
+    end_source_timestamp_ns: 1790045915397045427
+    start_delta_ns: -15509221
+    end_delta_ns: 16563464
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16563464
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:20:08+00:00'
+updated_at: '2026-10-27T19:20:08+00:00'
+

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v1.log

@@ -0,0 +1 @@
+12540311/occluder t=0: 131618 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/correction_preview_c6a_accessory_sparse_v1/12540311/occluder_t0000.png

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v1_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/correction_preview_c6a_accessory_sparse_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v1_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 8.464317321777344,
+  "accepted": false
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v2.log

@@ -0,0 +1 @@
+12540311/occluder t=0: 132341 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/correction_preview_c6a_accessory_sparse_v2/12540311/occluder_t0000.png

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v2_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/correction_preview_c6a_accessory_sparse_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.466315031051636,
+  "accepted": false
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v2.log

@@ -0,0 +1,3 @@
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/masks/12540311/occluder/run0002_t0000-0485.npz

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v2_argv.json

@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/masks",
+  "--view",
+  "12540311",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "485",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a agent correction; no owner acceptance"
+]

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 42.61096930503845,
+  "accepted": false
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a.log

@@ -0,0 +1,10 @@
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/masks/12540311/object/run0001_t0000-0485.npz
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0485.npz
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0485.npz
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/masks/12540311/occluder/run0001_t0000-0485.npz

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a_argv.json

@@ -0,0 +1,25 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/masks",
+  "--view",
+  "12540311",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "485",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a first proposal; pending owner mask/window decisions"
+]

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a_result.json

@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 132.760484457016,
+  "started_unix": 1793129766.3875647,
+  "accepted": false
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v1.json

@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12540311",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          150,
+          930
+        ],
+        [
+          610,
+          850
+        ],
+        [
+          750,
+          864
+        ],
+        [
+          684,
+          829
+        ],
+        [
+          780,
+          700
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0
+      ],
+      "box": [
+        0,
+        793,
+        850,
+        1079
+      ],
+      "note": "Owner-directed sparse replacement for the full-person occluder: five total points selected after re-inspecting this exact own-camera native t0 RGB. Include visible body, sleeves, bare arms, hands and bracelet; preserve real background gaps and exclude the object. Hand masks are unchanged. Box preserved. Preview and propagation review required; no owner acceptance.",
+      "supersede": true
+    }
+  ],
+  "notes": "Sparse successor to the retained dense draft. Native evidence re-inspected 2026-10-27. Same SAM2 method; no multipart union or mask filling. Root owns preview and application."
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v2.json

@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12540311",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          150,
+          930
+        ],
+        [
+          750,
+          864
+        ],
+        [
+          684,
+          829
+        ],
+        [
+          684,
+          848
+        ],
+        [
+          679,
+          869
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        0,
+        793,
+        850,
+        1079
+      ],
+      "note": "Second sparse occluder trial after preview retained a substantial unmasked bracelet strip. Five positives: sleeve, hand and three native-verified accessory locations. Points (684,848) and (679,869) are unchanged native RGB in the prior preview, confirming the omission. Same box/t0 and supersede=true; preview required before propagation.",
+      "supersede": true
+    }
+  ],
+  "notes": "Sparse successor to the retained dense draft. Native evidence re-inspected 2026-10-27. Same SAM2 method; no multipart union or mask filling. Root owns preview and application."
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/proposal_prompts_c6a_v1.json

@@ -0,0 +1,170 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12540311",
+      "instance": "object",
+      "t": 0,
+      "points": [
+        [
+          757,
+          581
+        ],
+        [
+          841,
+          613
+        ],
+        [
+          897,
+          699
+        ],
+        [
+          893,
+          797
+        ],
+        [
+          854,
+          841
+        ],
+        [
+          676,
+          758
+        ],
+        [
+          665,
+          683
+        ],
+        [
+          780,
+          700
+        ],
+        [
+          740,
+          880
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        650,
+        570,
+        912,
+        860
+      ],
+      "note": "Draft exact native t=0 orange round-belt pixels only, including visible dark seam; exclude interior table, hand and shadow."
+    },
+    {
+      "serial": "12540311",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
+        [
+          610,
+          850
+        ],
+        [
+          750,
+          864
+        ],
+        [
+          819,
+          905
+        ],
+        [
+          801,
+          818
+        ],
+        [
+          684,
+          848
+        ],
+        [
+          535,
+          850
+        ],
+        [
+          850,
+          839
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        547,
+        798,
+        848,
+        957
+      ],
+      "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and orange belt."
+    },
+    {
+      "serial": "12540311",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          150,
+          930
+        ],
+        [
+          450,
+          880
+        ],
+        [
+          610,
+          850
+        ],
+        [
+          750,
+          864
+        ],
+        [
+          780,
+          700
+        ],
+        [
+          900,
+          900
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        0,
+        793,
+        850,
+        1079
+      ],
+      "note": "Draft whole visible person, including clothing, head where visible, bare right arm/hand, bracelet and any visible nonparticipating left hand; exclude table, robot and belt."
+    },
+    {
+      "serial": "12540311",
+      "instance": "hand_B",
+      "t": 0,
+      "absence_stop": 485,
+      "note": "Draft: no participating left hand in this one-hand interaction. Any visible nonparticipating left hand belongs only to occluder."
+    }
+  ]
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a.log

@@ -0,0 +1,4 @@
+12540311/object t=0: 8735 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/proposal_overlays_c6a_v1/12540311/object_t0000.png
+12540311/hand_A t=0: 28611 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/proposal_overlays_c6a_v1/12540311/hand_A_t0000.png
+12540311/occluder t=0: 130830 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/proposal_overlays_c6a_v1/12540311/occluder_t0000.png
+12540311/hand_B t=0: 0 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/proposal_overlays_c6a_v1/12540311/hand_B_t0000.png

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_accessory_sparse_v2.log

@@ -0,0 +1 @@
+12540311/occluder t=0: 132341 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/correction_overlays_c6a_accessory_sparse_v2/12540311/occluder_t0000.png

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_accessory_sparse_v2_argv.json

@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/correction_overlays_c6a_accessory_sparse_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_accessory_sparse_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 8.108001947402954,
+  "accepted": false
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_argv.json

@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/proposal_prompts_c6a_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/proposal_overlays_c6a_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_result.json

@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 9.817240715026855,
+  "started_unix": 1793129756.570056,
+  "accepted": false
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review-media_c6a.log

@@ -0,0 +1 @@
+Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_v1

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review-media_c6a_argv.json

@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_v1",
+  "--view",
+  "12540311",
+  "--t",
+  "0",
+  "--t",
+  "121",
+  "--t",
+  "242",
+  "--t",
+  "363",
+  "--t",
+  "484"
+]

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review-media_c6a_result.json

@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 90.31641674041748,
+  "started_unix": 1793129899.1485124,
+  "accepted": false
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review_c6a_accessory_sparse_v2.log

@@ -0,0 +1 @@
+Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_accessory_sparse_v2

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review_c6a_accessory_sparse_v2_argv.json

@@ -0,0 +1,29 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/review_media_c6a_accessory_sparse_v2",
+  "--view",
+  "12540311",
+  "--instance",
+  "occluder",
+  "--t",
+  "0",
+  "--t",
+  "121",
+  "--t",
+  "242",
+  "--t",
+  "363",
+  "--t",
+  "484"
+]

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review_c6a_accessory_sparse_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 39.16144514083862,
+  "accepted": false
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/window_command.json

@@ -0,0 +1,22 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_annotate_converted_session_window.py",
+  "--session-path",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--anchor-serial",
+  "12540311",
+  "--start-timestamp-ns",
+  "1790045899156119938",
+  "--end-timestamp-ns",
+  "1790045915380481963",
+  "--expected-visible-hands-or-arms",
+  "1",
+  "--object-description",
+  "taped round belt",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Fingertips reach the near end of the loop ~296-300 (12933256: fingertips above loop at 296-298, touching at 300-302; anchor: fingers over loop end from 296). 302 = first frame with contact confirmed in both opposing views. Single fist/pinch grip on the same end persists through lift (~360-420), hanging carry (~420-530), hand tilt and lowering (~530-560), compression of the loop against the table (~560-632, loop flattened under the fist), re-lift (~640-720), set-down (~744-776) and hold on table. Release: anchor 787 fingers start extending, 12933256 788 (=anchor 787) fingers open; 786 = last held frame.",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/phystwin_window.yaml"
+]

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json

@@ -0,0 +1,109 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "8c4f276e0ec5edef3123d2d161927dfe8968e9c2b712bb7d59a09de127e7e2a8",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      301,
+      787
+    ],
+    "anchor_time_ns_first_last": [
+      1790045899166424200,
+      1790045915390452283
+    ]
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 301,
+    "converted_frame_index": 302,
+    "official_frame_index": 302,
+    "native_container_frame_index": 303,
+    "view_time_ns": 1790045899166424200
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
+  ],
+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
+    [
+      1225.0,
+      503.0
+    ],
+    [
+      1121.0,
+      497.0
+    ],
+    [
+      1069.0,
+      535.0
+    ],
+    [
+      1175.0,
+      488.0
+    ],
+    [
+      1320.0,
+      518.0
+    ],
+    [
+      1100.0,
+      557.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0,
+    0
+  ],
+  "box_uv": [
+    1050.0,
+    440.0,
+    1305.0,
+    554.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and orange belt.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "970f2d33ad538121154ebabaf8992b0fd87ee31d7bc8f78224ecf98f921b51c0",
+  "seed_mask_pixels": 15383,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-27T19:38:28Z"
+}

sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz

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+size 1590