diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/C6A_REVIEW.md b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/C6A_REVIEW.md
new file mode 100644
index 0000000000000000000000000000000000000000..e2051ff578998fd31c86f7488fac9ebfd23eb115
--- /dev/null
+++ b/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.
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..7313170ac438eba39044f2c63998dd75c5743d69
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json
@@ -0,0 +1,114 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "58eaeafa6130c64d470842ef7d8a7f105613b9ae3e23c9893a68aa4b9db5b995",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
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+    "anchor_time_ns_first_last": [
+      1790045899156119938,
+      1790045915380481963
+    ]
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_A",
+  "frame": {
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+    "sync_index": 301,
+    "converted_frame_index": 302,
+    "official_frame_index": 302,
+    "native_container_frame_index": 303,
+    "view_time_ns": 1790045899156119938
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
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+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
+    [
+      610.0,
+      850.0
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+    [
+      750.0,
+      864.0
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+    [
+      819.0,
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+    [
+      801.0,
+      818.0
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+    [
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+    [
+      535.0,
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+  "labels": [
+    1,
+    1,
+    1,
+    1,
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+  "box_uv": [
+    547.0,
+    798.0,
+    848.0,
+    957.0
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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"
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2ac59d67ffe0f35cb720a0d824e456ed479e6f1
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ddcf00b4f71b8a8511530265517609b9145c349ebbebe007a092727801e933
+size 1885
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..73edec48bb6a269aab545b42e663461c93c72368
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+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01.json
@@ -0,0 +1,55 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "58eaeafa6130c64d470842ef7d8a7f105613b9ae3e23c9893a68aa4b9db5b995",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      301,
+      786
+    ],
+    "anchor_time_ns_first_last": [
+      1790045899156119938,
+      1790045915380481963
+    ]
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 301,
+    "converted_frame_index": 302,
+    "official_frame_index": 302,
+    "native_container_frame_index": 303,
+    "view_time_ns": 1790045899156119938
+  },
+  "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": [],
+  "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
+  ]
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e961475cbb51d17d5b86c1d5a9c3aa8e1eaced0
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01.json
@@ -0,0 +1,124 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "58eaeafa6130c64d470842ef7d8a7f105613b9ae3e23c9893a68aa4b9db5b995",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
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+    "anchor_time_ns_first_last": [
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+      1790045915380481963
+    ]
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+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "object",
+  "frame": {
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+    "sync_index": 301,
+    "converted_frame_index": 302,
+    "official_frame_index": 302,
+    "native_container_frame_index": 303,
+    "view_time_ns": 1790045899156119938
+  },
+  "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": [
+    [
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+      581.0
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+    [
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+      613.0
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+    [
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+      699.0
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+    [
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+      797.0
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+    [
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+      841.0
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+    [
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+    [
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+    [
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+    1,
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+  "box_uv": [
+    650.0,
+    570.0,
+    912.0,
+    860.0
+  ],
+  "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": {
+    "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
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+    "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"
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz b/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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+  "seed_mask_sha256": "b4391acfbb5b20cbcebc66eeb86f96eeed5d0d5edc01908c36b3714b8a2b4cd2",
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+}
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@@ -0,0 +1,107 @@
+{
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+  "supersedes": {
+    "file": "t0000_v01.json",
+    "sha256": "831b4681ae7a3b743b7074fc393f2f68e541e176ecbf11a04f6b3cb381a8f5df"
+  },
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+  "source": "agent:c6a_20261027",
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+    "sam2_git": {
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+    "device": "cuda",
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+  "created_utc": "2026-10-27T23:27:17Z"
+}
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/inspection/inspection.json
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/inspect_command.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/inspect_command.json
new file mode 100644
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@@ -0,0 +1,15 @@
+[
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+  "scripts/phystwin_real_rgbd.py",
+  "inspect",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--window",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/phystwin_window.yaml",
+  "--frame-association",
+  "anchor_nearest",
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+  "--sample-t",
+  "0"
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+      "depth_stream_id": "zed_23007103_depth_zed_sdk_neural_plus",
+      "converted_frame_index_half_open": [
+        302,
+        788
+      ],
+      "distinct_frames": 433,
+      "repeated_steps": 52,
+      "skipping_steps": 53,
+      "valid_frames": 485,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": -17.96279,
+        "median": -15.939948,
+        "max": 21.717515
+      },
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+        1080,
+        1920
+      ],
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+        1054.31005859375,
+        1054.31005859375,
+        969.4010009765625,
+        516.3890380859375
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+        -0.5916520560802326,
+        -0.6322488212026725,
+        0.5168520851731121
+      ],
+      "depth_unit_m": 0.001,
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+    }
+  ],
+  "lineage": {
+    "session_id": "session_20260921_225744_574043",
+    "session_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+    "window_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12540311/phystwin_window.yaml",
+    "window_sha256": "58eaeafa6130c64d470842ef7d8a7f105613b9ae3e23c9893a68aa4b9db5b995",
+    "window_resolved": {
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+      "end_anchor_timestamp_ns": 1790045915380481963,
+      "end_sync_index_exclusive": 786,
+      "frame_count": 485,
+      "start_anchor_timestamp_ns": 1790045899156119938,
+      "start_sync_index": 301
+    },
+    "manual_annotation_ns": [
+      1790045899156119938,
+      1790045915380481963
+    ],
+    "anchor_stream_id": "zed_12540311_left_rgb",
+    "sync_clock": "sync_time_ns (host_unix_time_ns)",
+    "device_clock": "device_time_ns",
+    "frame_association": "nearest per view to each anchor time, ties to the earlier frame, no tolerance",
+    "intrinsics_source": "metadata/calibration.json camera_intrinsics at the recorded stream size",
+    "calibration": {
+      "package_dir": "metadata/calibration_package",
+      "world_frame": "table",
+      "pose_source": "phase_05_final",
+      "final_transform_source": "combined_fixed_movable_ba",
+      "source_run_name": "20260921_200440",
+      "candidate_pose_set_name": "fixed020_movable1",
+      "world_T_camera_bundle": "world_T_camera_by_serial.npz",
+      "world_T_camera_bundle_sha256": "2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5"
+    }
+  },
+  "samples": [
+    {
+      "t": 0,
+      "serial": "12540311",
+      "converted_frame_index": 302,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 5180
+      },
+      "depth_zero_fraction": 0.02355131172839506,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.596,
+        1.308,
+        5.18
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "12933256",
+      "converted_frame_index": 302,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
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+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 6053
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+      "depth_zero_fraction": 0.03606240354938271,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.65,
+        1.241,
+        6.053
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "17736741",
+      "converted_frame_index": 302,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 3712
+      },
+      "depth_zero_fraction": 0.01832127700617284,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.58,
+        1.164,
+        3.712
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "23007103",
+      "converted_frame_index": 302,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
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+          1920
+        ],
+        "min": 0,
+        "max": 4063
+      },
+      "depth_zero_fraction": 0.03602671682098765,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.48,
+        1.094,
+        4.063
+      ]
+    }
+  ]
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0485.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0485.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0485.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0485.npz
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@@ -0,0 +1,3 @@
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/object/run0001_t0000-0485.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/object/run0001_t0000-0485.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/occluder/run0001_t0000-0485.npz b/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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+size 1233928
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/masks/12540311/occluder/run0002_t0000-0485.npz b/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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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/phystwin_window.yaml b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/phystwin_window.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6d9672f54567c8d0545560ae6e770a6e9e4a1e22
--- /dev/null
+++ b/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'
+
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..92db1caa2c61ada57ca91e089a9edfa3b540894e
--- /dev/null
+++ b/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
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..b582b6876e99506d9252bfa227b495ca808ec54e
--- /dev/null
+++ b/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6cc5f68fc1186e04919b7f4d3fc576940bec743
--- /dev/null
+++ b/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
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v2.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..f37c9c42ec5e72a936c8f5e9b9214b9b5adfe478
--- /dev/null
+++ b/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
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c24ef268ed76bd1f34206cf9a3eedd2cad78ae
--- /dev/null
+++ b/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/preview_c6a_accessory_sparse_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..83634085c5787053988fbeba2255099325cd565d
--- /dev/null
+++ b/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
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v2.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..7ab8fb17469365b5b22cff55b9debccf670b7702
--- /dev/null
+++ b/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 @@
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+
propagate in video: 0it [00:00, ?it/s]
propagate in video: 0it [00:00, ?it/s]
+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
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..d488439509e538a7836e3d3122312b999d9738e0
--- /dev/null
+++ b/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e946a6fbacaabf994847e0c84452502c1b6cb39
--- /dev/null
+++ b/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
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..ebbb570cdf4add7a852459c52cee0b4e0a5fe97f
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a.log
@@ -0,0 +1,10 @@
+
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+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
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+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
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+
propagate in video: 0it [00:00, ?it/s]
propagate in video: 0it [00:00, ?it/s]
+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
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f46cd8bf7ffbc2d68906ffd81d1eea8878f0b43
--- /dev/null
+++ b/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propagate_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c72a7a83cda90bf3c2f0fcae8546a7f59d423568
--- /dev/null
+++ b/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
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v1.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..959f151a08909e6afd9015b166f12c13d9384820
--- /dev/null
+++ b/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."
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v2.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..235d1e13ed11720bf006234b021f8720b075c8b3
--- /dev/null
+++ b/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."
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/proposal_prompts_c6a_v1.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/proposal_prompts_c6a_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..54f7fe02251be42560d4a46c7848ae3d033cf9a8
--- /dev/null
+++ b/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."
+    }
+  ]
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..be188c5b4a6869bbd42489447fc71e33a7e47dd7
--- /dev/null
+++ b/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
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_accessory_sparse_v2.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_accessory_sparse_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..a6223efb5fa98fcc69e300359668562585adff9e
--- /dev/null
+++ b/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
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_accessory_sparse_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..a312631d876d7a6002df71377a7a34c5694c7ad1
--- /dev/null
+++ b/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_accessory_sparse_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb816b018643680638859df3d1e8c6e68ab2655d
--- /dev/null
+++ b/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
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..18a6fb358bdfe0250cdd9d2b9a6e9739ddfc411c
--- /dev/null
+++ b/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/propose_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..bacde443813942300535feca78e089eb1c8c35d0
--- /dev/null
+++ b/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
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review-media_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review-media_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..0f922053489dd91d435cdb824842c05dba572d6b
--- /dev/null
+++ b/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
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review-media_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review-media_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83d21c3935f6672e8c99328a833d823ca2c4fa0
--- /dev/null
+++ b/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review-media_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review-media_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..852263ea727a90056e45619396769ecf45ec289e
--- /dev/null
+++ b/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
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review_c6a_accessory_sparse_v2.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review_c6a_accessory_sparse_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..5f97d6caae773b96ef789805af756b9c21956562
--- /dev/null
+++ b/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
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review_c6a_accessory_sparse_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8f5d8925085e92efff01df3f0b881c46846f196
--- /dev/null
+++ b/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/review_c6a_accessory_sparse_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aeb033c6fc6bc3ae0cc805e70366f1b20ee695f
--- /dev/null
+++ b/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
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/window_command.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12540311/window_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ba57960bd4f06ec82056a74f46a1eac16fdd393
--- /dev/null
+++ b/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..177ccf60a8c913c58eeb350998b745c5db173a44
--- /dev/null
+++ b/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
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+      1790045899166424200,
+      1790045915390452283
+    ]
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_A",
+  "frame": {
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+    "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
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+    [
+      1320.0,
+      518.0
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+    [
+      1100.0,
+      557.0
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+  ],
+  "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"
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b748c223192160e4140e6106d3fe724ca2ce06ee
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:970f2d33ad538121154ebabaf8992b0fd87ee31d7bc8f78224ecf98f921b51c0
+size 1590
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..39f2742dcb1151e1ef748f7d319645141eae680c
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@@ -0,0 +1,55 @@
+{
+  "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_B",
+  "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": [],
+  "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": "2026-10-27T19:38:28Z",
+  "reviewed_absence_half_open": [
+    0,
+    486
+  ]
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/object/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/annotations/prompts/12933256/object/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..abfffe11b20a7f2b094e14bb97fd28313666b00e
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@@ -0,0 +1,124 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "8c4f276e0ec5edef3123d2d161927dfe8968e9c2b712bb7d59a09de127e7e2a8",
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+  "view_index": 1,
+  "instance": "object",
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+  "supersedes": null,
+  "image_size_hw": [
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+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "aa48f8b7c4a6252038aeb648fa626f22f063ab060735511620402152c7f2dc67",
+  "seed_mask_pixels": 9098,
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+    "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)",
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+    "binarize_mask_from_pts_for_mem_enc": true,
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+    "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"
+}
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+  "supersedes": null,
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+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "864423fa61fdc8db216f0c72e929ecf107bf1826e965a9bd1b35360a93fb8995",
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+}
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+{
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+  "seed_mask_file": "t0000_v02_seed_mask.npz",
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+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
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+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
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+    "image_size": 1024,
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+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
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+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-27T23:29:02Z"
+}
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/inspection/inspection.json
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/inspect_command.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/inspect_command.json
new file mode 100644
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+[
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+  "scripts/phystwin_real_rgbd.py",
+  "inspect",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--window",
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+  "--frame-association",
+  "anchor_nearest",
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+  "--sample-t",
+  "0"
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+    "window_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/phystwin_window.yaml",
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+    "device_clock": "device_time_ns",
+    "frame_association": "nearest per view to each anchor time, ties to the earlier frame, no tolerance",
+    "intrinsics_source": "metadata/calibration.json camera_intrinsics at the recorded stream size",
+    "calibration": {
+      "package_dir": "metadata/calibration_package",
+      "world_frame": "table",
+      "pose_source": "phase_05_final",
+      "final_transform_source": "combined_fixed_movable_ba",
+      "source_run_name": "20260921_200440",
+      "candidate_pose_set_name": "fixed020_movable1",
+      "world_T_camera_bundle": "world_T_camera_by_serial.npz",
+      "world_T_camera_bundle_sha256": "2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5"
+    }
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+        6.053
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+        0.58,
+        1.164,
+        3.712
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+      "rgb": {
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+        0.48,
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+        4.089
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+    }
+  ]
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0486.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0486.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0486.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0486.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/object/run0001_t0000-0486.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/object/run0001_t0000-0486.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/occluder/run0001_t0000-0486.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/occluder/run0001_t0000-0486.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/occluder/run0002_t0000-0486.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/masks/12933256/occluder/run0002_t0000-0486.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/phystwin_window.yaml b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/phystwin_window.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e4fe272d2ef1b1ed855c317b68a11acbeac6f051
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/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: '12933256'
+  anchor_stream_id: zed_12933256_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33442604
+  fps_estimate: 29.901978
+manual_annotation:
+  start_global_timestamp_ns: 1790045899166424200
+  end_global_timestamp_ns: 1790045915390452283
+  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: 787
+  start_anchor_timestamp_ns: 1790045899166424200
+  end_anchor_timestamp_ns: 1790045915390452283
+  frame_count: 486
+  duration_s: 16.224028
+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: -10304262
+    end_delta_ns: -9970320
+  '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: 0
+    end_delta_ns: 0
+  '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: -12856744
+    end_delta_ns: -12736770
+  '23007103':
+    start_source_frame_index: 303
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899173985951
+    end_source_timestamp_ns: 1790045915397045427
+    start_delta_ns: 7561751
+    end_delta_ns: 6593144
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 12856744
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:20:38+00:00'
+updated_at: '2026-10-27T19:20:38+00:00'
+
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/preview_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/preview_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..c839441d33edbdf1f3de8ec8e980c5f091210e8a
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/preview_c6a_accessory_sparse_v1.log
@@ -0,0 +1 @@
+12933256/occluder t=0: 125714 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/correction_preview_c6a_accessory_sparse_v1/12933256/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/preview_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/preview_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..eccdf7f22fb8833b2ad00ae14499acaefab3bb68
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/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/12933256/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/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/12933256/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/preview_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/preview_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a91222c20edb9d9f9e840f5f7af54e13bad9ceb
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/preview_c6a_accessory_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 8.509403228759766,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..b753f67585e36e4e19892ade4118a5e5381e658a
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1.log
@@ -0,0 +1,3 @@
+
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+
propagate in video: 0it [00:00, ?it/s]
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/masks/12933256/occluder/run0002_t0000-0486.npz
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1a98f4f066f3e50f6c6e630ca5938f2d7236f83
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1_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/12933256/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/masks",
+  "--view",
+  "12933256",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "486",
+  "--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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e7884b086413d1790c732d91a11c7766b81678c
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 43.152677059173584,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..8ca30743cd48e685902da6cd642b2e9c1165494f
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_c6a.log
@@ -0,0 +1,10 @@
+
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/masks/12933256/object/run0001_t0000-0486.npz
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0486.npz
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0486.npz
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+
propagate in video: 0it [00:00, ?it/s]
propagate in video: 0it [00:00, ?it/s]
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/masks/12933256/occluder/run0001_t0000-0486.npz
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d0641208442cdec17239a096f894855350cb527
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/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/12933256/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/masks",
+  "--view",
+  "12933256",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "486",
+  "--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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..062998a44c265a9bbd57a8309e7de3dfceb1cec8
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propagate_c6a_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 135.6956307888031,
+  "started_unix": 1793129909.4081964,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v1.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a231dc0f26e026774d69148e68e7713ebb3cb8b3
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v1.json
@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12933256",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          1750,
+          390
+        ],
+        [
+          1225,
+          503
+        ],
+        [
+          1121,
+          497
+        ],
+        [
+          1167,
+          497
+        ],
+        [
+          1300,
+          650
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0
+      ],
+      "box": [
+        1050,
+        190,
+        1919,
+        595
+      ],
+      "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."
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/proposal_prompts_c6a_v1.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/proposal_prompts_c6a_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..451e9a79ce30d7956f515563c6251fcf03b7f4cb
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/proposal_prompts_c6a_v1.json
@@ -0,0 +1,165 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12933256",
+      "instance": "object",
+      "t": 0,
+      "points": [
+        [
+          1011,
+          546
+        ],
+        [
+          1120,
+          582
+        ],
+        [
+          1098,
+          645
+        ],
+        [
+          1016,
+          692
+        ],
+        [
+          897,
+          711
+        ],
+        [
+          851,
+          664
+        ],
+        [
+          912,
+          585
+        ],
+        [
+          980,
+          630
+        ],
+        [
+          1120,
+          500
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        839,
+        533,
+        1130,
+        720
+      ],
+      "note": "Draft exact native t=0 orange round-belt pixels only, including visible dark seam; exclude interior table, hand and shadow."
+    },
+    {
+      "serial": "12933256",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
+        [
+          1225,
+          503
+        ],
+        [
+          1121,
+          497
+        ],
+        [
+          1069,
+          535
+        ],
+        [
+          1175,
+          488
+        ],
+        [
+          1320,
+          518
+        ],
+        [
+          1100,
+          557
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        1050,
+        440,
+        1305,
+        554
+      ],
+      "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and orange belt."
+    },
+    {
+      "serial": "12933256",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          1750,
+          390
+        ],
+        [
+          1450,
+          480
+        ],
+        [
+          1225,
+          503
+        ],
+        [
+          1121,
+          497
+        ],
+        [
+          980,
+          630
+        ],
+        [
+          1300,
+          650
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        1050,
+        190,
+        1919,
+        595
+      ],
+      "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": "12933256",
+      "instance": "hand_B",
+      "t": 0,
+      "absence_stop": 486,
+      "note": "Draft: no participating left hand in this one-hand interaction. Any visible nonparticipating left hand belongs only to occluder."
+    }
+  ]
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..df946937dc9a27ecbee2975b075217d9afec167b
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a.log
@@ -0,0 +1,4 @@
+12933256/object t=0: 9098 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/proposal_overlays_c6a_v1/12933256/object_t0000.png
+12933256/hand_A t=0: 15383 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/proposal_overlays_c6a_v1/12933256/hand_A_t0000.png
+12933256/occluder t=0: 125436 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/proposal_overlays_c6a_v1/12933256/occluder_t0000.png
+12933256/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/12933256/proposal_overlays_c6a_v1/12933256/hand_B_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..67d0d4a4f6a6d4b316a46e456e9ed9669b6a7bdb
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_accessory_sparse_v1.log
@@ -0,0 +1 @@
+12933256/occluder t=0: 125714 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/correction_overlays_c6a_accessory_sparse_v1/12933256/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c9dea77b178387c6f505ce6090620296e809c42
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_accessory_sparse_v1_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/12933256/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/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/12933256/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/correction_overlays_c6a_accessory_sparse_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bdbb63373c681cccf73bf24500a774cdd183cbf
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_accessory_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 8.639178991317749,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d1d679309cd40d8ebc4ba1ab15d7edf88d08b80
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/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/12933256/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/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/12933256/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/proposal_overlays_c6a_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e919220a205d9021649732a33e5a4b3236d5d6f
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/propose_c6a_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 10.258926153182983,
+  "started_unix": 1793129899.148852,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review-media_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review-media_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..b532948d5ee5a5a26f9f0ed3dc0072adc3261f32
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/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/12933256/review_media_c6a_v1
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review-media_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review-media_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fa9a580f8446c9ef7a3a3bf7ea08d7c0ead1469
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/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/12933256/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/review_media_c6a_v1",
+  "--view",
+  "12933256",
+  "--t",
+  "0",
+  "--t",
+  "121",
+  "--t",
+  "243",
+  "--t",
+  "364",
+  "--t",
+  "485"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review-media_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review-media_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c53ef39ea6055fb1155ab9af1a04506352d18f8
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review-media_c6a_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 72.14573645591736,
+  "started_unix": 1793130045.1041965,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..1001eecf111b01347f564bae2dd89bf871e88151
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review_c6a_accessory_sparse_v1.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/12933256/review_media_c6a_accessory_sparse_v1
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..c580ded3a4d57cba748b2727aac61a4a60290c54
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review_c6a_accessory_sparse_v1_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/12933256/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/12933256/masks",
+  "--output",
+  "/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",
+  "--view",
+  "12933256",
+  "--instance",
+  "occluder",
+  "--t",
+  "0",
+  "--t",
+  "121",
+  "--t",
+  "243",
+  "--t",
+  "364",
+  "--t",
+  "485"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb12146ac09f963c2c49d31d61669f5268c323d
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/review_c6a_accessory_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 38.96696138381958,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/window_command.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/window_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b3350b736f9b530cee04f273e1ea87f75cfdcd9
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/12933256/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",
+  "12933256",
+  "--start-timestamp-ns",
+  "1790045899166424200",
+  "--end-timestamp-ns",
+  "1790045915390452283",
+  "--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/12933256/phystwin_window.yaml"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..a717368fe5eba51f21a90a30e771f198f4ccc7c6
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json
@@ -0,0 +1,114 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "74597f143f37a136457a25d858a7ded2c000bfa358aca5c3ba8a77858507718e",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
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+      1790045899153567456,
+      1790045915377715513
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+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_A",
+  "frame": {
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+    "converted_frame_index": 302,
+    "official_frame_index": 302,
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+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
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+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
+    [
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+      640.0
+    ],
+    [
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+      703.0
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+    [
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+    [
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+    [
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+    [
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+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0,
+    0,
+    0
+  ],
+  "box_uv": [
+    633.0,
+    589.0,
+    935.0,
+    806.0
+  ],
+  "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": "e73593a63aeff041b0922186c67c1dc15b7eff10a18683da3493532eeb45c590",
+  "seed_mask_pixels": 25930,
+  "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": "2026-10-27T19:40:53Z"
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz
new file mode 100644
index 0000000000000000000000000000000000000000..217e92d4ad20d361204c898e0a48e17d1052f37c
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e73593a63aeff041b0922186c67c1dc15b7eff10a18683da3493532eeb45c590
+size 2271
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/hand_B/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/hand_B/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd52083f3388da3d65efcfeb3d53232258d5cdde
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@@ -0,0 +1,55 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "74597f143f37a136457a25d858a7ded2c000bfa358aca5c3ba8a77858507718e",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      301,
+      787
+    ],
+    "anchor_time_ns_first_last": [
+      1790045899153567456,
+      1790045915377715513
+    ]
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 301,
+    "converted_frame_index": 302,
+    "official_frame_index": 302,
+    "native_container_frame_index": 303,
+    "view_time_ns": 1790045899153567456
+  },
+  "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": [],
+  "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": "2026-10-27T19:40:53Z",
+  "reviewed_absence_half_open": [
+    0,
+    486
+  ]
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9adaa54bf1841fb2a917ba83dd2c630e70d366f
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+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json
@@ -0,0 +1,124 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "74597f143f37a136457a25d858a7ded2c000bfa358aca5c3ba8a77858507718e",
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+      "12933256",
+      "17736741",
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+  "supersedes": null,
+  "image_size_hw": [
+    1080,
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+    852.0,
+    490.0,
+    1113.0,
+    759.0
+  ],
+  "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": "8e2ccc061f8db665850f1dd6180555e3b528fea0110ed596835d6b6fb6910a71",
+  "seed_mask_pixels": 9570,
+  "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": "2026-10-27T19:40:53Z"
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v01.json
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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "74597f143f37a136457a25d858a7ded2c000bfa358aca5c3ba8a77858507718e",
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+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 301,
+    "converted_frame_index": 302,
+    "official_frame_index": 302,
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+  "supersedes": null,
+  "image_size_hw": [
+    1080,
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+}
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+  "created_utc": "2026-10-27T22:55:03Z"
+}
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