sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747: payload batch 1/2

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/C6A_REVIEW.md

@@ -0,0 +1,96 @@
+# session_20260921_233248_177244: C6a proposal review
+
+**stronger-reprojection prior accepted; fresh mechanical/static-appearance preparation complete and reviewed; owner accepted.**
+
+Object: bike chain. Motion: two-handed grasp lifting completely off table, compress and extend cycles, then put down.
+Current packet anchor converted frames: **208–747 inclusive**.
+Current packet endpoint sync timestamps: `1790047997824416092` / `1790048015853651816` ns.
+Participating identities: `hand_A+hand_B`; 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_233248_177244/window_proposal_c1/proposal.json`.
+
+**Owner-selected interval: 208–747 inclusive.** Literal decision: “For 233248, the window you should use is 208-747”. Window selection does not accept the masks.
+
+[Current mask review packet](MASK_REVIEW_c6a_owner_window_sparse_v2.md) with all-role videos, inspected times and residuals.
+
+Owner mask acceptance: “prior for 225908 and mask for 233248 look good and I approve. I still need to go through the rest of the full review index”. The current packet is accepted for reference tracking/lifting and prior preparation; prior and appearance review remain separate.
+
+`accepted_input_preparation_c6a_v1/` retains exact executed argv, stage logs, results and products.
+
+[Initial prior review](accepted_input_preparation_c6a_v1/PRIOR_REVIEW_c6a_v1.md): overlays, rotation and metrics; owner prior acceptance is separate.
+
+## Four-camera tiled videos
+
+Each video shows all four cameras in a 2×2 layout: **12540311 / 12933256** above **17736741 / 23007103**.
+
+[Object](review_tiled_c6a_20261028/role_object.mp4) · [Right hand A](review_tiled_c6a_20261028/role_hand_A.mp4) · [Left hand B](review_tiled_c6a_20261028/role_hand_B.mp4) · [Whole person](review_tiled_c6a_20261028/role_occluder.mp4)
+
+Playback is 10 frames/s for inspection. Views are associated by recorded timestamps; every native capture appears, with repeated tiles where needed. Labels show each camera’s selected-local, converted and native frame numbers, capture timestamp and offset from the display event. This is a display association, not a change to the masks or selected windows.
+
+[Exact displayed capture mapping](review_tiled_c6a_20261028/media_index.json).
+
+## Exact own-camera mapping
+
+| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns |
+|---|---|---|---|---|
+| 12540311 | 0–539 | 208–747 | 209–748 | 1790047997824416092 / 1790048015853651816 |
+| 12933256 | 0–539 | 207–746 | 208–747 | 1790047997819758657 / 1790048015848578448 |
+| 17736741 | 0–539 | 208–747 | 209–748 | 1790047997839745861 / 1790048015869513735 |
+| 23007103 | 0–539 | 208–747 | 209–748 | 1790047997829389080 / 1790048015858988112 |
+
+## 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, 12933256, 17736741, 23007103: [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/review_media_c6a_owner_window_sparse_v2/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/review_media_c6a_owner_window_sparse_v2/role_hand_B.mp4), [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/review_media_c6a_owner_window_sparse_v2/role_object.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/review_media_c6a_owner_window_sparse_v2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/review_media_c6a_owner_window_sparse_v2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/review_media_c6a_owner_window_sparse_v2/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.
+
+Owner feedback on 2026-10-28 requests less smoothing at sharp chain bends and better centerline detail. [Literal feedback](owner_prior_feedback_20261028.json). The existing prior remains preserved and unaccepted while its objective and spline resolution are inspected.
+
+### Owner-directed chain comparison complete
+
+The [A/B centerline comparison](accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/COMPARISON.md) preserves the baseline. Reducing curvature weight alone (A) changes little; B with 18 controls modestly improves local contours and mean projected-mask distance (3.325 → 3.230 mm). Nine plots were inspected. No candidate is adopted, and the next full-prior choice awaits the owner.
+
+
+Owner selected variantB for full prior preparation on 2026-10-28. The saved18-control centerline is reused; no additional fit or other-case recipe adoption. [Exact decision](owner_chain_variant_b_preparation_20261028.json).
+
+
+[Variant B full prior ready for owner review](accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/PRIOR_REVIEW_c6a_v1.md). All five stages and numeric checks passed;21 panels and9 orbit frames inspected.18 controls, curvature weight5e-9, length585.423mm, unchanged4.75mm tube. Appearance seeds increase to122092 under unchanged mesh sampling. Prior acceptance remains pending.
+
+Owner accepted variant B’s full prior on 2026-10-28 for mechanical input preparation and static appearance training. Trained appearance acceptance and physical fitting remain separate.
+
+## Latest preparation review
+
+Mechanical input construction and static review are complete. [Mechanical review](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/supervision/review_c6a_v1/MECHANICAL_REVIEW.md). Trained appearance is complete and reviewed; owner appearance acceptance is pending. [Appearance review](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/APPEARANCE_REVIEW_c6a_v1.md).
+
+## Owner appearance decision
+
+The owner accepted this exact static appearance on2026-10-28, including the disclosed hidden gaps, diffuse grip lobe and fringe. No physical fitting is authorized.
+
+## Current owner decision: chain prior held
+
+On 2026-10-28 the owner revoked all bike-chain prior acceptances and requested one shared fitting recipe across all five sessions, investigating lower curvature cost and/or higher mask reprojection cost. All earlier approvals and outputs remain historical evidence; dependent preparation is held. The owner subsequently authorized the two shared candidates below; selection remains pending.
+
+## Shared chain-prior candidates, 2026-10-28
+
+Both full candidates are complete and reviewed. [Five-case comparison](</mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/chain_weight_comparison_20261028/COMPARISON.md>): 18 controls with curvature/reprojection 5e-10/4 or 5e-9/8, compared with the retained 5e-9/4 baseline. Earlier prior acceptances remain revoked. No new dependent preparation is authorized by completion.
+
+## Owner selection: stronger reprojection
+
+The owner accepted the stronger-reprojection prior (18 controls, curvature 5e-9, reprojection 8) and requested continuation on 2026-10-28. [Exact current decision](owner_prior_acceptance_c6a_v1.json). Fresh mechanical inputs and static appearance are being prepared in `accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2`; older products remain historical. Trained appearance acceptance and physical fitting remain separate.
+
+
+### Current stronger-reprojection products
+
+[Static appearance and rotation](accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md) · [Mechanical geometry and controllers](accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/supervision/review_c6a_v1/MECHANICAL_REVIEW.md). Earlier sections retain their historical decisions; the current status is at the top of this card.
+
+
+### New stronger-reprojection appearance accepted
+
+The owner accepted the [reviewed appearance](accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md). The exact acceptance and final PLY identity are retained in [the current record](owner_appearance_acceptance_c6a_v1.json).

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/MASK_REVIEW_c6a_owner_window_sparse_v2.md

@@ -0,0 +1,16 @@
+**233248: fresh masks for owner-selected anchor frames 208–747 inclusive (540 frames). Owner mask acceptance is pending.**
+
+The sampled review found no chain dropout, hand identity swap, or broad clothing/bracelet omission. The bracelet is included in the person mask and excluded from hand_A. Small edge/glint artifacts, tiny initial background speckles, and imperfect fine chain-link boundaries remain.
+
+Four-view videos show local `t`, converted/native frame numbers, and per-view timestamps. Each contains all 540 selected frames at 10 fps. Layout: top-left 12540311, top-right 12933256, bottom-left 17736741, bottom-right 23007103.
+
+- [Object — cyan](review_media_c6a_owner_window_sparse_v2/role_object.mp4)
+- [Hand_A — magenta; right hand and bare forearm, excluding bracelet/sleeve](review_media_c6a_owner_window_sparse_v2/role_hand_A.mp4)
+- [Hand_B — yellow; left hand and bare forearm, excluding sleeve](review_media_c6a_owner_window_sparse_v2/role_hand_B.mp4)
+- [Person/occluder — purple; visible body, clothing, hands and bracelet](review_media_c6a_owner_window_sparse_v2/role_occluder.mp4)
+
+Agent review covered all four roles and all four views at local frames **0, 30, 60, 90, 120, 135, 150, 180, 210, 240, 270, 300, 330, 360, 390, 405, 420, 450, 480, 510, 539** (24 saved sheets). Native RGB/hand_A/occluder wrist comparisons were also inspected at **0, 135, 270, 405, 539** in every view (8 sheets), alongside the 16 seed previews and five full-frame all-role mosaics. This is sampled visual review, not an exhaustive adjudication of every frame.
+
+Full-frame examples: [start t0](review_media_c6a_owner_window_sparse_v2/difficult_t0000.png), [t135](review_media_c6a_owner_window_sparse_v2/difficult_t0135.png), [t270](review_media_c6a_owner_window_sparse_v2/difficult_t0270.png), [t405](review_media_c6a_owner_window_sparse_v2/difficult_t0405.png), [end t539](review_media_c6a_owner_window_sparse_v2/difficult_t0539.png).
+
+[Saved review and exact source indices](../../c6a_20261027/review_findings/233248/owner_window_sparse_v2/report.json) accompany the [native accessory samples](../../c6a_20261027/review_findings/233248/owner_window_sparse_v2/native_accessories/source_indices.json). The [media index](review_media_c6a_owner_window_sparse_v2/media_index.json) reports no mask-load errors, uncovered ranges, or empty predictions in any view/role. All fresh seeds use five total points with the pinned SAM2 model; no mask postprocessing was added. Tracking for this window remains pending owner mask acceptance.

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12540311/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997824416092
+  },
+  "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": [
+    [
+      655.0,
+      907.0
+    ],
+    [
+      827.0,
+      906.0
+    ],
+    [
+      873.0,
+      944.0
+    ],
+    [
+      762.0,
+      888.0
+    ],
+    [
+      552.0,
+      930.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    575.0,
+    813.0,
+    930.0,
+    999.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right hand identified by bracelet: full visible bare forearm through fingertips; exclude bracelet and sleeve. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "b685f622f2e43db29dadc2645727c9e40b2b28ad7705d3db5449dce676a0f718",
+  "seed_mask_pixels": 30524,
+  "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": "2026-10-28T00:30:12Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b685f622f2e43db29dadc2645727c9e40b2b28ad7705d3db5449dce676a0f718
+size 1949

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12540311/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997824416092
+  },
+  "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": [
+    [
+      636.0,
+      497.0
+    ],
+    [
+      753.0,
+      519.0
+    ],
+    [
+      819.0,
+      557.0
+    ],
+    [
+      538.0,
+      510.0
+    ],
+    [
+      806.0,
+      663.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    553.0,
+    438.0,
+    856.0,
+    597.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical left hand: full visible bare forearm through fingertips; exclude sleeve and object. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "580508e145bf870981d43d2107b031bacdbc26f34226c63a7ff1d30306642ff2",
+  "seed_mask_pixels": 20850,
+  "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": "2026-10-28T00:30:12Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12540311/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580508e145bf870981d43d2107b031bacdbc26f34226c63a7ff1d30306642ff2
+size 1623

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12540311/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997824416092
+  },
+  "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": [
+    [
+      808.0,
+      680.0
+    ],
+    [
+      934.0,
+      747.0
+    ],
+    [
+      895.0,
+      835.0
+    ],
+    [
+      864.0,
+      730.0
+    ],
+    [
+      817.0,
+      906.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    774.0,
+    557.0,
+    957.0,
+    876.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Bike chain: only visible chain links, excluding hands, shadows and enclosed tabletop. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "fe5038776e9ec9843255f0840dc09d767a76a1ded43bdb92ea18944d11f6a0b7",
+  "seed_mask_pixels": 9097,
+  "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": "2026-10-28T00:30:12Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe5038776e9ec9843255f0840dc09d767a76a1ded43bdb92ea18944d11f6a0b7
+size 2189

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12540311/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997824416092
+  },
+  "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": [
+    [
+      127.0,
+      179.0
+    ],
+    [
+      350.0,
+      471.0
+    ],
+    [
+      320.0,
+      984.0
+    ],
+    [
+      763.0,
+      882.0
+    ],
+    [
+      755.0,
+      521.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    1
+  ],
+  "box_uv": [
+    0.0,
+    0.0,
+    950.0,
+    1079.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Whole visible person including both hands/arms, clothing and accessories; exclude bike chain and laboratory equipment. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "b34f2d046bc2198693f94960318857d66dd5fcf2ef537440fe9b017372e2ed20",
+  "seed_mask_pixels": 307729,
+  "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": "2026-10-28T00:30:13Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12540311/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b34f2d046bc2198693f94960318857d66dd5fcf2ef537440fe9b017372e2ed20
+size 5263

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12933256/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 207,
+    "official_frame_index": 207,
+    "native_container_frame_index": 208,
+    "view_time_ns": 1790047997819758657
+  },
+  "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": [
+    [
+      1250.0,
+      391.0
+    ],
+    [
+      1134.0,
+      425.0
+    ],
+    [
+      1094.0,
+      472.0
+    ],
+    [
+      1172.0,
+      407.0
+    ],
+    [
+      1370.0,
+      369.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    1070.0,
+    325.0,
+    1343.0,
+    503.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right hand identified by bracelet: full visible bare forearm through fingertips; exclude bracelet and sleeve. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "3d45e900d9fa2853513a8bddd3b573f92254d76901222656c7f5d97f8e26b738",
+  "seed_mask_pixels": 17255,
+  "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": "2026-10-28T00:30:15Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d45e900d9fa2853513a8bddd3b573f92254d76901222656c7f5d97f8e26b738
+size 1750

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12933256/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 207,
+    "official_frame_index": 207,
+    "native_container_frame_index": 208,
+    "view_time_ns": 1790047997819758657
+  },
+  "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": [
+    [
+      947.0,
+      598.0
+    ],
+    [
+      835.0,
+      609.0
+    ],
+    [
+      778.0,
+      649.0
+    ],
+    [
+      1072.0,
+      589.0
+    ],
+    [
+      975.0,
+      530.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    742.0,
+    536.0,
+    1025.0,
+    700.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical left hand: full visible bare forearm through fingertips; exclude sleeve and object. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "79516ee65e7c0bf09c999a3acb44417e0aa9a4fb1fdf5aba4d1bda9c99ce64a1",
+  "seed_mask_pixels": 22685,
+  "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": "2026-10-28T00:30:15Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12933256/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79516ee65e7c0bf09c999a3acb44417e0aa9a4fb1fdf5aba4d1bda9c99ce64a1
+size 1603

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12933256/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 207,
+    "official_frame_index": 207,
+    "native_container_frame_index": 208,
+    "view_time_ns": 1790047997819758657
+  },
+  "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": [
+    [
+      930.0,
+      546.0
+    ],
+    [
+      1000.0,
+      520.0
+    ],
+    [
+      1060.0,
+      501.0
+    ],
+    [
+      1000.0,
+      470.0
+    ],
+    [
+      1118.0,
+      451.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    880.0,
+    475.0,
+    1115.0,
+    568.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Bike chain: only visible chain links, excluding hands, shadows and enclosed tabletop. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "3e17cc113a4ba66dbda1d86b41fbf2a35131a48034082417bfac45414515f1e9",
+  "seed_mask_pixels": 3412,
+  "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": "2026-10-28T00:30:15Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12933256/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e17cc113a4ba66dbda1d86b41fbf2a35131a48034082417bfac45414515f1e9
+size 1370

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12933256/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 207,
+    "official_frame_index": 207,
+    "native_container_frame_index": 208,
+    "view_time_ns": 1790047997819758657
+  },
+  "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": [
+    [
+      1720.0,
+      330.0
+    ],
+    [
+      1325.0,
+      559.0
+    ],
+    [
+      1172.0,
+      407.0
+    ],
+    [
+      838.0,
+      609.0
+    ],
+    [
+      1100.0,
+      285.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0
+  ],
+  "box_uv": [
+    725.0,
+    0.0,
+    1919.0,
+    720.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Whole visible person including both hands/arms, clothing and accessories; exclude bike chain and laboratory equipment. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending. Sparse v2 reallocates redundant hand positive to a negative on the erroneously included white robot; retain person and bracelet.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "7fcbfb02d0c498d1169814dd2e527b586f78d3b4bbf15f7ccbf78e8cb9ff5c6c",
+  "seed_mask_pixels": 332265,
+  "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": "2026-10-28T00:30:15Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/12933256/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fcbfb02d0c498d1169814dd2e527b586f78d3b4bbf15f7ccbf78e8cb9ff5c6c
+size 4541

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/17736741/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997839745861
+  },
+  "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": [
+    [
+      655.0,
+      681.0
+    ],
+    [
+      813.0,
+      753.0
+    ],
+    [
+      868.0,
+      797.0
+    ],
+    [
+      742.0,
+      704.0
+    ],
+    [
+      540.0,
+      660.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    568.0,
+    600.0,
+    914.0,
+    854.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right hand identified by bracelet: full visible bare forearm through fingertips; exclude bracelet and sleeve. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "3cc3d0ad3fb4da5cf8d75e992cd21a903d597bb36f835e8f9d50c3665595af83",
+  "seed_mask_pixels": 32262,
+  "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": "2026-10-28T00:30:17Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc3d0ad3fb4da5cf8d75e992cd21a903d597bb36f835e8f9d50c3665595af83
+size 2191

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/17736741/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997839745861
+  },
+  "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": [
+    [
+      918.0,
+      381.0
+    ],
+    [
+      1038.0,
+      430.0
+    ],
+    [
+      1081.0,
+      495.0
+    ],
+    [
+      785.0,
+      358.0
+    ],
+    [
+      1095.0,
+      560.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    808.0,
+    302.0,
+    1134.0,
+    535.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical left hand: full visible bare forearm through fingertips; exclude sleeve and object. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "e04775bb4538aecff28a2d1495b1b4cb225dbce7564c4bfbc58ce0b44f738aba",
+  "seed_mask_pixels": 22656,
+  "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": "2026-10-28T00:30:18Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/17736741/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e04775bb4538aecff28a2d1495b1b4cb225dbce7564c4bfbc58ce0b44f738aba
+size 2118

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/17736741/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997839745861
+  },
+  "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": [
+    [
+      1008.0,
+      592.0
+    ],
+    [
+      1100.0,
+      620.0
+    ],
+    [
+      937.0,
+      769.0
+    ],
+    [
+      1042.0,
+      671.0
+    ],
+    [
+      810.0,
+      759.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    869.0,
+    495.0,
+    1122.0,
+    800.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Bike chain: only visible chain links, excluding hands, shadows and enclosed tabletop. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "402371fb322e1b29f91ee5b28c764ad2676e6b144657e3f169d6295d9beecaba",
+  "seed_mask_pixels": 9984,
+  "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": "2026-10-28T00:30:17Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:402371fb322e1b29f91ee5b28c764ad2676e6b144657e3f169d6295d9beecaba
+size 2368

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/17736741/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997839745861
+  },
+  "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": [
+    [
+      100.0,
+      25.0
+    ],
+    [
+      130.0,
+      390.0
+    ],
+    [
+      742.0,
+      704.0
+    ],
+    [
+      1040.0,
+      440.0
+    ],
+    [
+      239.0,
+      350.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    1
+  ],
+  "box_uv": [
+    0.0,
+    0.0,
+    1145.0,
+    857.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Whole visible person including both hands/arms, clothing and accessories; exclude bike chain and laboratory equipment. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "c24b12976a1f5d4e94b35fa8fef9b839d7270c0c16a63369f312ff8ade286a16",
+  "seed_mask_pixels": 364652,
+  "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": "2026-10-28T00:30:18Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/17736741/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24b12976a1f5d4e94b35fa8fef9b839d7270c0c16a63369f312ff8ade286a16
+size 7017

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/23007103/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997829389080
+  },
+  "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": [
+    [
+      1106.0,
+      298.0
+    ],
+    [
+      1009.0,
+      370.0
+    ],
+    [
+      981.0,
+      415.0
+    ],
+    [
+      1059.0,
+      329.0
+    ],
+    [
+      1174.0,
+      282.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    931.0,
+    249.0,
+    1158.0,
+    447.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right hand identified by bracelet: full visible bare forearm through fingertips; exclude bracelet and sleeve. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "c31e61df982703b98d51b95d3d0cad16c21cf8f3bdeff2ac29d6c5747401bbff",
+  "seed_mask_pixels": 11271,
+  "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": "2026-10-28T00:30:20Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c31e61df982703b98d51b95d3d0cad16c21cf8f3bdeff2ac29d6c5747401bbff
+size 1813

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/23007103/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997829389080
+  },
+  "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": [
+    [
+      1290.0,
+      468.0
+    ],
+    [
+      1210.0,
+      547.0
+    ],
+    [
+      1167.0,
+      583.0
+    ],
+    [
+      1400.0,
+      417.0
+    ],
+    [
+      1107.0,
+      581.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    1124.0,
+    380.0,
+    1400.0,
+    622.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical left hand: full visible bare forearm through fingertips; exclude sleeve and object. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "2e45e52dc72491d084f6c60179344fd0680dcd9b2fc1262b2472511713c44be2",
+  "seed_mask_pixels": 20226,
+  "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": "2026-10-28T00:30:20Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/23007103/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e45e52dc72491d084f6c60179344fd0680dcd9b2fc1262b2472511713c44be2
+size 1770

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/23007103/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997829389080
+  },
+  "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": [
+    [
+      973.0,
+      493.0
+    ],
+    [
+      1065.0,
+      518.0
+    ],
+    [
+      1081.0,
+      579.0
+    ],
+    [
+      1037.0,
+      542.0
+    ],
+    [
+      1198.0,
+      560.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    955.0,
+    421.0,
+    1170.0,
+    606.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Bike chain: only visible chain links, excluding hands, shadows and enclosed tabletop. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "ce848671f5dddd6727eadbc1e88ad3b0d599edab479e7ead9fc6af086ace43ec",
+  "seed_mask_pixels": 6650,
+  "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": "2026-10-28T00:30:20Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/23007103/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce848671f5dddd6727eadbc1e88ad3b0d599edab479e7ead9fc6af086ace43ec
+size 1897

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/23007103/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233248_177244",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      207,
+      747
+    ],
+    "anchor_time_ns_first_last": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 207,
+    "converted_frame_index": 208,
+    "official_frame_index": 208,
+    "native_container_frame_index": 209,
+    "view_time_ns": 1790047997829389080
+  },
+  "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": [
+    [
+      1495.0,
+      217.0
+    ],
+    [
+      1059.0,
+      329.0
+    ],
+    [
+      1211.0,
+      544.0
+    ],
+    [
+      1540.0,
+      601.0
+    ],
+    [
+      1547.0,
+      728.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    910.0,
+    0.0,
+    1740.0,
+    950.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Whole visible person including both hands/arms, clothing and accessories; exclude bike chain and laboratory equipment. Fresh native t0 after owner selected anchor 208\u2013747 inclusive. At most five total points. Agent proposal; mask acceptance pending.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "a6c9ab1e86dec651c7441d22101ace402fa5c346cf86e7125c39f42318f41e63",
+  "seed_mask_pixels": 184737,
+  "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": "2026-10-28T00:30:20Z"
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/annotations/prompts/23007103/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c9ab1e86dec651c7441d22101ace402fa5c346cf86e7125c39f42318f41e63
+size 5543

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/inspect.log

@@ -0,0 +1 @@
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/inspection/inspection.json

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/inspect_argv.json

@@ -0,0 +1,15 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "inspect",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233248_177244",
+  "--window",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/phystwin_window.yaml",
+  "--frame-association",
+  "per_camera_native_range",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/inspection",
+  "--sample-t",
+  "0"
+]

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/inspection/frames.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fab40868c856a450e65bbdd1704f78c7d48389ab3d761f4b68c4cd09973e80e
+size 128216

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/inspection/inspection.json

@@ -0,0 +1,345 @@
+{
+  "frame_count": 540,
+  "transition_count": 539,
+  "sync_index_half_open": [
+    207,
+    747
+  ],
+  "anchor_time_ns_first_last": [
+    1790047997824416092,
+    1790048015853651816
+  ],
+  "anchor_span_s": 18.029235724,
+  "anchor_interval_ms": {
+    "min": 25.935933,
+    "median": 33.440419,
+    "max": 41.925371999999996
+  },
+  "anchor_view": 0,
+  "world_frame": "table",
+  "physics_frame": "table",
+  "physics_T_world": [
+    [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    [
+      0.0,
+      1.0,
+      0.0,
+      0.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0,
+      0.0
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "views": [
+    {
+      "serial": "12540311",
+      "rgb_stream_id": "zed_12540311_left_rgb",
+      "depth_stream_id": "zed_12540311_depth_zed_sdk_neural_plus",
+      "converted_frame_index_half_open": [
+        208,
+        748
+      ],
+      "distinct_frames": 540,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 540,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": 0.0,
+        "median": 0.0,
+        "max": 0.0
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1505.6722412109375,
+        1505.6722412109375,
+        975.8067016601562,
+        520.2479248046875
+      ],
+      "world_T_camera_translation_m": [
+        0.37861749362037694,
+        0.35865096273259595,
+        0.9747715436172444
+      ],
+      "depth_unit_m": 0.001,
+      "depth_saturated_raw": 8191
+    },
+    {
+      "serial": "12933256",
+      "rgb_stream_id": "zed_12933256_left_rgb",
+      "depth_stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+      "converted_frame_index_half_open": [
+        207,
+        747
+      ],
+      "distinct_frames": 540,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 540,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": -15.072149,
+        "median": -4.3425455,
+        "max": -0.11653699999999999
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1485.1204833984375,
+        1485.1204833984375,
+        1016.49560546875,
+        529.3939208984375
+      ],
+      "world_T_camera_translation_m": [
+        0.6950866726146973,
+        -0.8347046984835544,
+        0.5782811473286448
+      ],
+      "depth_unit_m": 0.001,
+      "depth_saturated_raw": 8191
+    },
+    {
+      "serial": "17736741",
+      "rgb_stream_id": "zed_17736741_left_rgb",
+      "depth_stream_id": "zed_17736741_depth_zed_sdk_neural_plus",
+      "converted_frame_index_half_open": [
+        208,
+        748
+      ],
+      "distinct_frames": 540,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 540,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": 5.477029,
+        "median": 15.584909,
+        "max": 18.608389
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1509.0538330078125,
+        1509.0538330078125,
+        954.2969970703125,
+        518.1422729492188
+      ],
+      "world_T_camera_translation_m": [
+        -0.33081317530788323,
+        0.3636141220708792,
+        0.9671273536451334
+      ],
+      "depth_unit_m": 0.001,
+      "depth_saturated_raw": 8191
+    },
+    {
+      "serial": "23007103",
+      "rgb_stream_id": "zed_23007103_left_rgb",
+      "depth_stream_id": "zed_23007103_depth_zed_sdk_neural_plus",
+      "converted_frame_index_half_open": [
+        208,
+        748
+      ],
+      "distinct_frames": 540,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 540,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": 0.701788,
+        "median": 5.5960885,
+        "max": 9.385564
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1054.255615234375,
+        1054.255615234375,
+        969.4036865234375,
+        516.3906860351562
+      ],
+      "world_T_camera_translation_m": [
+        -0.5916520560802326,
+        -0.6322488212026725,
+        0.5168520851731121
+      ],
+      "depth_unit_m": 0.001,
+      "depth_saturated_raw": 8191
+    }
+  ],
+  "lineage": {
+    "session_id": "session_20260921_233248_177244",
+    "session_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233248_177244",
+    "window_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/phystwin_window.yaml",
+    "window_sha256": "74cd0175d2f625e7b89b99dae4a34782d54a759b044b70826df29ecbc674b9ab",
+    "window_resolved": {
+      "duration_s": 18.029236,
+      "end_anchor_timestamp_ns": 1790048015853651816,
+      "end_sync_index_exclusive": 747,
+      "frame_count": 540,
+      "start_anchor_timestamp_ns": 1790047997824416092,
+      "start_sync_index": 207
+    },
+    "manual_annotation_ns": [
+      1790047997824416092,
+      1790048015853651816
+    ],
+    "anchor_stream_id": "zed_12540311_left_rgb",
+    "sync_clock": "sync_time_ns (host_unix_time_ns)",
+    "device_clock": "device_time_ns",
+    "frame_association": "per view: consecutive recorded frames over the sidecar's per-camera native range; depth nearest to each RGB 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"
+    },
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "samples": [
+    {
+      "t": 0,
+      "serial": "12540311",
+      "converted_frame_index": 208,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 5013
+      },
+      "depth_zero_fraction": 0.028822337962962963,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.46900000000000003,
+        1.25,
+        5.013
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "12933256",
+      "converted_frame_index": 207,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 7220
+      },
+      "depth_zero_fraction": 0.03857060185185185,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.464,
+        1.123,
+        7.22
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "17736741",
+      "converted_frame_index": 208,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 4626
+      },
+      "depth_zero_fraction": 0.018060378086419752,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.579,
+        1.115,
+        4.626
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "23007103",
+      "converted_frame_index": 208,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 4577
+      },
+      "depth_zero_fraction": 0.040393518518518516,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.481,
+        1.027,
+        4.577
+      ]
+    }
+  ]
+}

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/12540311/hand_A/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:266d119a1045bc5aff8121c4be1bb6b22b857fdd02d7833e5647bd3dffa5bcb5
+size 756454

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/12540311/hand_B/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a0e928abc1ba28338e5688abdc43ce0c321ac16a6589ebfd6698547a6e2a831
+size 527116

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/12540311/object/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54e14e2a7e98e5d8dc4ebd2ee5398b4291be4a0127cb088ec3517efcd57ffdac
+size 830845

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/12540311/occluder/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a2b73cf1eef38f5827d65a971bcaf4c0f7ad61a6f40e90c79348a42158d7399
+size 2319326

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/12933256/hand_A/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96697c1df7167e1150f9e6f3f36de8acf2c93994976fbf9303c8bfdefc3cd37d
+size 564791

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/12933256/hand_B/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0ccdf779e0ff6de29b42a35ba2e017f9e33e7e3ab43c6231cf018de68b62eec
+size 489425

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/12933256/object/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7701a9ecda3828f5894c64e4102bf4d6edbca05c6d4887fd41c4fd523f895fa9
+size 402376

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/12933256/occluder/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:151e27930044d674498f4854a7373ebc4d6fff5919a88df200382689b9068bf3
+size 1840284

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/17736741/hand_A/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f0186677eb1293932330e6d3e08b1cf93c96eae38af4c458e92ded338289f6
+size 743879

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/17736741/hand_B/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33d2f01a298c33bfb7f2404395f1472ee38ed137fd925d6ca7ffee0962c2eea5
+size 714637

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/17736741/object/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9527d3d0273facff38aedc4a284f37c8169b4b7e973bf0f9e02febbc72f92ec8
+size 855730

sessions/session_20260921_233248_177244/annotations/windows/window_anchor0208-0747/native/masks/17736741/occluder/run0001_t0000-0540.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86cfd27aa1baf2f45cd15c326ee2b802b51d9358a88c212831252c02ce991207
+size 3120594