sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1: payload batch 4/4

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json

@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 329.2646064379951
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_center_v3.log

@@ -0,0 +1,36 @@
+{
+ "populations": {
+  "N": 935,
+  "S": 1089,
+  "A": 1093,
+  "added_surface": 154,
+  "interior": 4,
+  "controls": 30,
+  "controls_by_hand": {
+   "hand_A": 30
+  }
+ },
+ "denominators": {
+  "D_V": 886,
+  "D_M": 875
+ },
+ "graph": {
+  "object_springs": 17458,
+  "controller_springs": 1044,
+  "object_rest_min_max_m": [
+   0.0003050614905077964,
+   0.01858098991215229
+  ],
+  "controller_rest_min_max_m": [
+   0.004989308770745993,
+   0.039989907294511795
+  ],
+  "isolated_object_nodes": 0,
+  "attached_object_nodes": 78,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 1044
+  }
+ },
+ "passed": true
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_argv.json

@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/mechanics_v3"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 227.83447327298927
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_review.log

@@ -0,0 +1,178 @@
+{
+  "scope": "Static input and geometry review only; no dynamics, optimization, fit or altered selection",
+  "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/supervision",
+  "populations": {
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+    "genuine_t_pairs": 935,
+    "N": 935,
+    "S": 1089,
+    "A": 1093,
+    "added_surface": 154,
+    "interior": 4,
+    "controls": 30,
+    "controls_by_hand": {
+      "hand_A": 30
+    }
+  },
+  "total_source_mass_units": 1093.0,
+  "mass_values": [
+    1.0
+  ],
+  "raw_bank": {
+    "surface": 1024,
+    "core": 128,
+    "core_winner_categories": {
+      "interior": 4,
+      "original": 64,
+      "surface": 60
+    }
+  },
+  "controllers": {
+    "survivors": 3642,
+    "eligible": 240,
+    "selected": 30,
+    "initial_distance_min_median_max_m": [
+      0.0049893076167663065,
+      0.027927920540117647,
+      0.03942485289338134
+    ]
+  },
+  "denominators": {
+    "D_C": 3237,
+    "D_T": 875,
+    "rule": "RT-S2, fixed for the whole run; C/T weights unchanged"
+  },
+  "initialization_groups": {
+    "initialized_original": 935,
+    "in_band_not_initialized": 2468,
+    "outside_initial_band": 7
+  },
+  "graph": {
+    "nodes": 1093,
+    "object_springs": 17458,
+    "object_rest_min_median_max_m": [
+      0.0003050614905077964,
+      0.00915563851594925,
+      0.01858098991215229
+    ],
+    "degree_min_median_max": [
+      29,
+      31.0,
+      45
+    ],
+    "degree_by_category_min_median_max": {
+      "original": [
+        29,
+        31.0,
+        42
+      ],
+      "surface": [
+        29,
+        32.0,
+        45
+      ],
+      "interior": [
+        34,
+        35.5,
+        40
+      ]
+    },
+    "isolated_nodes": 0,
+    "components": 1,
+    "component_sizes_desc": [
+      1093
+    ],
+    "near_arc_shortcuts": {
+      "definition": "object spring whose endpoints' prior-centerline arc separation exceeds 0.04 m",
+      "count": 0,
+      "fraction": 0.0,
+      "count_with_unambiguous_endpoints": 0,
+      "nodes_touching_shortcuts": 0,
+      "gap_p50_p90_max_m": [
+        0.0052021812887042985,
+        0.01024410109185501,
+        0.018190616517667124
+      ]
+    },
+    "ambiguous_centerline_nodes": 0,
+    "node_distance_to_centerline_p50_p90_max_m": [
+      0.005593372917075374,
+      0.009767056779456466,
+      0.012917831447118059
+    ],
+    "attachments": {
+      "count": 1044,
+      "rest_min_median_max_m": [
+        0.004989308770745993,
+        0.030628470703959465,
+        0.039989907294511795
+      ],
+      "per_control_min_median_max": [
+        1,
+        50.0,
+        50
+      ],
+      "controls_without_attachment": 0,
+      "by_hand": {
+        "hand_A": 1044,
+        "hand_B": 0
+      },
+      "attached_nodes": 78,
+      "attached_nodes_by_category": {
+        "original": 46,
+        "surface": 32,
+        "interior": 0
+      },
+      "attached_arc_bins_by_hand": {
+        "hand_A": {
+          "bins": [
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40
+          ],
+          "count": 9,
+          "of": 64
+        },
+        "hand_B": {
+          "bins": [],
+          "count": 0,
+          "of": 64
+        }
+      }
+    }
+  },
+  "checks": {
+    "native_model_reload_checks": true,
+    "supervision_reuse_checks": true,
+    "all_twenty_mechanical_arrays_reused_bitwise": true,
+    "v2_to_v3_raw_bank_retained_exactly": true,
+    "recomputed_shared_voxels_equal_saved": true,
+    "masses_are_one_per_actual_object_particle": true,
+    "velocity_zero_all_object_particles": true,
+    "gate_references_are_all_initialized_particles": true,
+    "gate_reference_categories_match_actual_particles": true,
+    "eligible_pool_is_survivors_with_inclusive_4cm_gate": true,
+    "selected_ids_match_gate": true,
+    "selected_controllers_all_eligible": true,
+    "selected_controllers_within_4cm_initially": true,
+    "selected_distances_recompute_exactly": true,
+    "thirty_hand_A_controllers": true,
+    "controller_trajectories_valid_every_sample": true,
+    "native_controls_equal_measured_float32_trajectories": true,
+    "genuine_pairs_name_original_own_tracks": true,
+    "genuine_pairs_cover_only_all_originals": true,
+    "original_q0_equals_own_measured_initial_targets": true,
+    "all_chamfer_targets_initially_valid": true,
+    "fixed_denominators_match_saved": true,
+    "connected_object_graph": true,
+    "no_isolated_object_nodes": true,
+    "all_controllers_attached": true
+  },
+  "passed": true
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_review_argv.json

@@ -0,0 +1,10 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/agent_drafts/review_mechanics_225744.py"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_review_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s_including_lock_wait": 187.96079715300584
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json

@@ -0,0 +1,36 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "3ddb8eae9832e8d588be0a4084996a2bc2a52c926c913e85c94867462eb691df",
+    "--accepted-prior-manifest-sha256",
+    "1700148fe9bddb939b16cd2d3a22dfab78165af590b77445dfa63796f1fc01d9",
+    "--participating-hand",
+    "hand_A",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/mechanics_v3/mesh/binding.json",
+    "--premesh-fitting",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/rt3_lifts/fitting",
+    "--mesh-rules",
+    "m2_10mm_centerline_voxels_v3",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 275.0455958870007
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_v2_argv.json

@@ -0,0 +1,32 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "3ddb8eae9832e8d588be0a4084996a2bc2a52c926c913e85c94867462eb691df",
+    "--accepted-prior-manifest-sha256",
+    "1700148fe9bddb939b16cd2d3a22dfab78165af590b77445dfa63796f1fc01d9",
+    "--participating-hand",
+    "hand_A",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1",
+    "--mesh-rules",
+    "m2_10mm_centerline_core_v2",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/mechanics_v2"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_v2_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 344.2700131640013
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_v3_argv.json

@@ -0,0 +1,34 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "3ddb8eae9832e8d588be0a4084996a2bc2a52c926c913e85c94867462eb691df",
+    "--accepted-prior-manifest-sha256",
+    "1700148fe9bddb939b16cd2d3a22dfab78165af590b77445dfa63796f1fc01d9",
+    "--participating-hand",
+    "hand_A",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1",
+    "--mesh-rules",
+    "m2_10mm_centerline_voxels_v3",
+    "--retained-samples-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/mechanics_v2/mesh/binding.json",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/mechanics_v3"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 372.574705564999
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md

@@ -0,0 +1,49 @@
+**Owner accepted this exact prior on 2026-10-28T17:24:50.851371+00:00 for mechanical input preparation and reference static appearance training.** [Acceptance record](../../owner_prior_acceptance_c6a_v1.json). The agent assessment below records the observations made before approval.
+
+# session_20260921_225744_574043 — prior accepted
+
+Saved C2 **orange_round_belt** prior evidence (radius 2.95 mm). Bounded agent visual review is complete: the prior follows the exposed belt in all four views with the depth and table-plane limitations below. **The owner subsequently accepted this exact prior as recorded above.** [Agent findings and inspection coverage](<agent_findings.json>) record the observations; owner acceptance is recorded separately above.
+
+Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](<prior_metrics.json>).
+
+| Camera | Local / converted / native | Centerline / geometry / native input |
+|---|---|---|
+| 12540311 | 0 / 335 / 336 | [centerline](<../prior_orange_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 0 / 335 / 336 | [centerline](<../prior_orange_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_1_12933256.png>) |
+| 17736741 | 0 / 335 / 336 | [centerline](<../prior_orange_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_2_17736741.png>) |
+| 23007103 | 1 / 336 / 337 | [centerline](<../prior_orange_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_orange_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_orange_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_orange_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_orange_v1/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **639.556 mm**, maximum curvature **19.434/m**, final gradient norm **9.94865e-05**. Soft length bounds are 635.000–660.000 mm; distance outside those bounds is 0.000 mm.
+
+Saved geometry checks report `passed=True`: **864 mesh vertices / 1728 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_orange_v1/tube/tube_checks.json>).
+
+The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision.
+
+| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence |
+|---|---|---|---|
+| 12540311 | 7.004 / 9.905 | 100.00% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) |
+| 12933256 | 5.568 / 7.504 | 99.43% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) |
+| 17736741 | 6.374 / 8.644 | 99.37% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) |
+| 23007103 | 8.492 / 11.582 | 99.71% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) |
+
+The saved statistical filter used 20 neighbours / 2 sigma and kept **18106 of 19015** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **18106 observed + 51840 mesh-derived = 69946 seeds**. Vertex colors are observed for 593 mesh vertices and median-filled for 271. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages.
+
+[Appearance seed populations](<../prior_orange_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_orange_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>)
+
+[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>)
+
+[Manifest](<../prior_orange_v1/manifest.json>) · [Fit settings and metrics](<../prior_orange_v1/steps/fit.json>) · [Reference observations](<../prior_orange_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+The agent inspected **24 saved images**: four initial RGB/mask/invalid-depth panels, four centerline overlays, eight tube overlays, and eight spatial/depth/color diagnostics. Nine decoded orbit frames (0, 4, 9, 13, 18, 22, 27, 31, 35 of 36 at 12 fps) cover 0–2.917 s of the 3 s rotation. This is sampled inspection, not a continuous-playback claim; the orbit plots tube vertices/rings rather than a shaded surface. The earlier temporal-reference review is not repeated here.
+
+The visible contour is closely followed in all four cameras, with small edge discrepancies and no gross wrong-loop displacement, crossing or kink. Spatial plots and rotation samples show a coherent nearly planar oval. The hand-hidden arc and underside remain inferred; a projected tube over the hand does not reveal the hidden physical shape. Color fill is concentrated on the lower side and is explicitly distinguished from observed color.
+
+Depth agreement is weaker than the image overlays alone suggest. The observed cloud has camera-dependent lateral spread and lies generally above the fitted tube in front/side views. Camera **23007103** has the largest centerline residuals (**8.492 / 11.582 mm median / p90**, with 29.30% beyond 10 mm). The read-only belt-interior-minus-local-table medians are **10.111, 6.196, 8.281 and 6.792 mm** in the listed camera order. Minimum mesh z is **−1.000 mm** relative to the nominal z=0 plane. These observations leave exact height and table contact uncertain; no correction or recipe change was applied.
+
+The fit stopped after one round at its configured gradient tolerance. Maximum curvature is 19.434/m; **36.4%** of samples exceed the **10/m soft regularization threshold**, while length remains within the soft bounds. That curvature threshold is not a hard geometry acceptance limit, and the stop reason does not establish global optimality.
+
+No blocking defect was found in this bounded review of the saved prior. The owner subsequently accepted the exact prior with the recorded limitations for mechanical input preparation and reference static appearance training. Trained-appearance acceptance and physical fitting remain separate.

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json

@@ -0,0 +1,185 @@
+{
+  "case": "session_20260921_225744_574043/window_anchor0335-0775",
+  "reviewed_at_utc": "2026-10-28T17:20:22.747428+00:00",
+  "review_kind": "bounded agent review of the completed C2 orange-round-belt prior",
+  "readiness": "ready_for_owner_prior_review_with_recorded_depth_and_table_plane_limitations",
+  "blocking_findings": [],
+  "owner_prior_approval": "pending; this record does not grant owner acceptance or authorize downstream stages",
+  "scope": {
+    "goal": "Assess saved initial prior geometry and appearance initialization against the native observations.",
+    "done_when": "Four input panels, four centerline overlays, eight tube overlays, spatial/depth/color diagnostics and at least eight orbit samples are inspected and findings recorded.",
+    "non_goals": [
+      "No prior, tracking, lifting or settings changes or reruns",
+      "No mechanics, static appearance training or physical fitting",
+      "No acceptance or case-status changes"
+    ],
+    "validation": "24 saved images and nine decoded frames spanning the 36-frame orbit; saved metrics, fit settings, geometry checks and depth diagnostic. The prior payload was read only."
+  },
+  "image_path_base": "../prior_orange_v1/review",
+  "inspected_images": [
+    "inputs/view_0_12540311.png",
+    "inputs/view_1_12933256.png",
+    "inputs/view_2_17736741.png",
+    "inputs/view_3_23007103.png",
+    "spline/centerline_0_with_masks.png",
+    "spline/centerline_1_with_masks.png",
+    "spline/centerline_2_with_masks.png",
+    "spline/centerline_3_with_masks.png",
+    "tube/silhouette_0_with_masks.png",
+    "tube/silhouette_1_with_masks.png",
+    "tube/silhouette_2_with_masks.png",
+    "tube/silhouette_3_with_masks.png",
+    "tube/silhouette_0_unmasked.png",
+    "tube/silhouette_1_unmasked.png",
+    "tube/silhouette_2_unmasked.png",
+    "tube/silhouette_3_unmasked.png",
+    "tube/tube_scale_views.png",
+    "spline/fit_projections.png",
+    "inputs/depth_offset.png",
+    "spline/residual_histograms.png",
+    "colors/visibility_and_fill.png",
+    "hybrid/combined.png",
+    "spline/curvature_profile.png",
+    "inputs/cloud_by_view.png"
+  ],
+  "inspected_videos": {
+    "../prior_orange_v1/review/tube/orbit.mp4": {
+      "frame_count": 36,
+      "fps": 12,
+      "duration_s": 3,
+      "visually_inspected_frame_indices": [
+        0,
+        4,
+        9,
+        13,
+        18,
+        22,
+        27,
+        31,
+        35
+      ],
+      "visual_method": "Individual decoded frames spanning 0 to 2.917 seconds; no continuous-playback claim. This video plots tube rings/vertices rather than a shaded continuous surface."
+    }
+  },
+  "inspected_data": [
+    "prior_metrics.json",
+    "../prior_orange_v1/steps/fit.json",
+    "../prior_orange_v1/review/inputs/depth_offset_table.json",
+    "../prior_orange_v1/spline/witness.json",
+    "../prior_orange_v1/manifest.json"
+  ],
+  "saved_metrics": {
+    "radius_mm": 2.95,
+    "reprojection_weight": 4.0,
+    "fit_rounds": 1,
+    "fit_stop": "gradient_tolerance",
+    "gradient_norm": 9.948646038537845e-05,
+    "length_mm": 639.5559310913086,
+    "soft_length_bounds_mm": [
+      634.9999904632568,
+      660.0000262260437
+    ],
+    "max_curvature_per_m": 19.434059143066406,
+    "curvature_regularization_threshold_per_m": 10.0,
+    "fraction_above_curvature_regularization_threshold": 0.364,
+    "tube_vertices": 864,
+    "tube_triangles": 1728,
+    "saved_geometry_checks": {
+      "euler_characteristic": 0,
+      "watertight": true,
+      "components": 1,
+      "winding_consistent": true,
+      "signed_volume_m3": 1.667425946654692e-05,
+      "minimum_outward_normal_dot_m": 0.0028399319731948094,
+      "degenerate_triangles": 0,
+      "self_intersecting": false,
+      "maximum_radius_error_m": 1.3732730600249377e-08,
+      "maximum_diameter_error_m": 2.7458041690180124e-08,
+      "bishop_seam_error": 5.960464477539063e-08,
+      "minimum_nonadjacent_centerline_distance_m": 0.015009370281387348,
+      "triangle_area_m2": {
+        "min": 5.4291309803621815e-06,
+        "median": 6.81993400358358e-06,
+        "mean": 6.776245926657399e-06,
+        "max": 7.94606914405334e-06,
+        "density_max_over_min": 1.4635987182470318
+      },
+      "bounds_m": [
+        [
+          -0.004454237408936024,
+          -0.26476213335990906,
+          -0.0009999927133321762
+        ],
+        [
+          0.17655092477798462,
+          -0.027849119156599045,
+          0.009483873844146729
+        ]
+      ],
+      "radius_m": 0.00295,
+      "step_t": 0.125,
+      "step_angle_deg": 30,
+      "passed": true,
+      "orientation_flipped": true
+    },
+    "depth_belt_minus_local_table_mm_by_serial": {
+      "12540311": 10.110898329941387,
+      "12933256": 6.195783489022055,
+      "17736741": 8.280544736093576,
+      "23007103": 6.79209982421447
+    },
+    "depth_correction_applied": false,
+    "per_view": {
+      "12540311": {
+        "median_centerline_distance_mm": 7.003991398960352,
+        "p90_centerline_distance_mm": 9.905103594064713,
+        "visible_centerline_inside_mask_fraction": 1.0
+      },
+      "12933256": {
+        "median_centerline_distance_mm": 5.568346939980984,
+        "p90_centerline_distance_mm": 7.503526052460074,
+        "visible_centerline_inside_mask_fraction": 0.994269340974212
+      },
+      "17736741": {
+        "median_centerline_distance_mm": 6.374490680173039,
+        "p90_centerline_distance_mm": 8.643649239093067,
+        "visible_centerline_inside_mask_fraction": 0.9937106918238994
+      },
+      "23007103": {
+        "median_centerline_distance_mm": 8.491620421409607,
+        "p90_centerline_distance_mm": 11.582046374678612,
+        "visible_centerline_inside_mask_fraction": 0.9970845481049563
+      }
+    },
+    "appearance_seeds": {
+      "observed": 18106,
+      "mesh": 51840,
+      "total": 69946,
+      "mesh_to_observed": 2.8631392908428146
+    },
+    "vertex_colors": {
+      "observed_vertices": 593,
+      "filled_vertices": 271
+    },
+    "mechanical_population": {
+      "particle_count": null,
+      "total_unit_mass": null,
+      "status": "not produced by the prior run; no post-prior mechanics are evaluated here"
+    }
+  },
+  "observations": [
+    "All four input panels show a single orange loop with a local hand-occluded arc. Object masks follow the exposed belt and the hand masks cover the grasp; no conspicuous invalid-depth flags appear on the visible belt interiors at displayed resolution. These panels show RGB, masks and invalid-depth flags, not depth-valued renderings.",
+    "All four centerlines and both versions of all four tube overlays closely follow the exposed orange contour. Small boundary offsets remain, but no gross displacement, detached component, crossing or sharp kink is visible. The projected closed arc across the hand is an inferred continuation.",
+    "Top/front/side plots and nine orbit samples show one smooth, nearly planar closed oval with mild height variation. Saved geometry checks report one watertight component, consistent winding, zero degenerate triangles and no self-intersection. Those are saved numerical checks, not properties established by the sampled ring plot alone.",
+    "Per-view cloud plots show camera-dependent lateral spread; 23007103 is visibly displaced along parts of the loop. Front/side and hybrid plots show observed points dispersed around and generally above the fitted tube. The widest residual tail is in 23007103, with median/p90 distances 8.492/11.582 mm and 29.30 percent beyond 10 mm; the other views have lower medians.",
+    "The color plot distinguishes 593 observed-color vertices from 271 median-filled vertices; fill predominantly occupies the lower side. The hybrid plot distinguishes 18106 observed seeds from 51840 mesh-derived seeds, totaling 69946, and retains their spatial disagreement visibly."
+  ],
+  "limitations": [
+    "The hand-hidden arc and underside are inferred geometry. Projecting the prior across the hand does not measure that hidden shape; median-filled vertex colors are not observed texture.",
+    "Minimum tube z is -1.000 mm relative to the nominal z=0 table plane. The read-only depth diagnostic gives belt-interior-minus-local-table medians of 10.111, 6.196, 8.281 and 6.792 mm in camera order 12540311, 12933256, 17736741, 23007103. Camera-dependent depth spread leaves precise vertical placement and table contact uncertain; no depth correction was applied.",
+    "Per-view median centerline distances are 5.568-8.492 mm. These measure observed depth points to the centerline and include surface radius plus observation/model differences; they are not ground-truth reconstruction errors. The 99.37-100 percent centerline-in-mask fractions are not silhouette IoU and do not resolve depth disagreement.",
+    "The fit stopped after one round at the configured gradient tolerance. Maximum curvature is 19.434/m and 36.4 percent of samples exceed the configured 10/m curvature regularization threshold. This is a soft loss threshold rather than a hard acceptance limit; the 639.556 mm length is within the 635-660 mm soft bounds. Neither the stop reason nor this review establishes global optimality.",
+    "The orbit is a sampled vertex/ring plot, with crowded z-axis labels, rather than a shaded mesh-surface render. Nine of its 36 frames were inspected; metric spatial plots and saved checks carry the geometric evidence. This initial-prior review does not repeat the completed full-window reference review.",
+    "Mesh vertices, appearance seeds and mechanical particles are distinct populations. This prior run supplies no post-prior mechanical particle count, unit-mass total, trained appearance or physical-fit result."
+  ]
+}

sessions/session_20260921_225744_574043/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json

@@ -0,0 +1,491 @@
+{
+  "session_id": "session_20260921_225744_574043",
+  "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1",
+  "owner_prior_approval": "accepted",
+  "visual_quality_assessment": "not performed by this packager",
+  "object": {
+    "name": "orange_round_belt",
+    "representation": "tube",
+    "fitter_source": "spline_estimation.round_belt_backend (accepted A/B priors)",
+    "dimension_source": "owner 2.95 mm cord radius (RP S-E, 2026-09-26)",
+    "radius_m": 0.00295,
+    "ribbon_width_m": null,
+    "step_t": 0.125,
+    "step_angle_deg": 30,
+    "u_resolution": null,
+    "overlap_rule": "ring_separation",
+    "twist_penalty": null
+  },
+  "initial_grid_sample": 0,
+  "views": [
+    {
+      "serial": "12540311",
+      "view_index": 0,
+      "selected_window_local_index": 0,
+      "converted_frame": 335,
+      "native_container_frame": 336,
+      "official_frame": 335,
+      "depth_frame": 335,
+      "capture_timestamp_ns": 1790045900260073728,
+      "device_timestamp_ns": 1790045900216534924,
+      "initial_grid_offset_ms": 9.904233,
+      "native_count": 441,
+      "initial_observed_depth_points": 5121,
+      "median_3d_residual_m": 0.007003991398960352,
+      "p90_3d_residual_m": 0.009905103594064713,
+      "visible_centerline_inside_mask_fraction": 1.0,
+      "track_diagnostics": {
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+        "queries": 5000,
+        "keyframes": [
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+        ],
+        "source_seed_counts": {
+          "object": 1250,
+          "hand_A": 3750,
+          "hand_B": 0
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.7978,
+          0.9157646258503401,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          163,
+          785
+        ],
+        "paired_common_min_max": [
+          3773,
+          4573
+        ]
+      },
+      "links": {
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+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1/review/tube/silhouette_0_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1/review/tube/silhouette_0_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1/review/inputs/view_0_12540311.png",
+        "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/review_v1/12540311/rgb_waft_depth_full_window.mp4",
+        "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/review_v1/12540311/12540311_visibility_certainty.png",
+        "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/review_v1/12540311/support_and_rejections.png",
+        "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/review_v1/12540311/paired_depth.png"
+      }
+    },
+    {
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+      "depth_frame": 335,
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+      "initial_observed_depth_points": 5136,
+      "median_3d_residual_m": 0.005568346939980984,
+      "p90_3d_residual_m": 0.007503526052460074,
+      "visible_centerline_inside_mask_fraction": 0.994269340974212,
+      "track_diagnostics": {
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+        ],
+        "source_seed_counts": {
+          "object": 1915,
+          "hand_A": 3085,
+          "hand_B": 0
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.709,
+          0.8670601809954751,
+          1.0
+        ],
+        "accepted_object_min_max": [
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+          1146
+        ],
+        "paired_common_min_max": [
+          3091,
+          4152
+        ]
+      },
+      "links": {
+        "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1/review/spline/centerline_1_with_masks.png",
+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1/review/tube/silhouette_1_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1/review/tube/silhouette_1_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0335-0775/accepted_input_preparation_c6a_v1/prior_orange_v1/review/inputs/view_1_12933256.png",
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