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+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
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+  "created_utc": "2026-10-27T23:53:21Z"
+}

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+  "revision_file": "proposal_prompts_c6a_v2.json",
+  "preserved_previous": "proposal_prompts_c6a_before_accessories.json",
+  "reason": "Add explicit bracelet positive to whole-person occluder before first proposal execution; no annotation/mask existed.",
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+}

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+  "scripts/phystwin_real_rgbd.py",
+  "inspect",
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+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
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+  "--sample-t",
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+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767
+  session_id: session_20260921_230550_636767
+annotation_interface:
+  method: rerun
+  rerun_timeline: sync_time_ns
+  rerun_launch_command: uv run --no-sync python -m dataset_converter.visualize_rerun
+    --session-path /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767
+    --sensor-types zed
+  timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the
+    current integer-nanosecond timestamp at the desired start/end moments.
+  notes: ''
+timebase:
+  policy: native_anchor_overlap
+  sync_policy: AnchorStreamSyncPolicy
+  overlap: true
+  anchor_serial: '17736741'
+  anchor_stream_id: zed_17736741_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33447517
+  fps_estimate: 29.897586
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+  end_global_timestamp_ns: 1790046392715443845
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 2
+  object_description: taped round belt
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A+hand_B'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Start = last participating hand (hand_B, person''s left) closes its
+    fingertip pinch on the far side of the belt: fingertips reach the belt at anchor
+    ~275-277 and are on it from 278 (12540311 single-frame scan). hand_A (bracelet)
+    had already wrapped the near side ~anchor 267-272. End = last frame before the
+    first release: hand_B''s pinch is intact through anchor 554 and its fingers open/lift
+    at 555-557; hand_A leaves at ~557-558 (12540311 single-frame scan, confirmed in
+    17736741). No regrasp, hand change or visible slip at stride 8 in 17736741 over
+    277-555.'
+resolved_window:
+  start_sync_index: 277
+  end_sync_index_exclusive: 554
+  start_anchor_timestamp_ns: 1790046383482492843
+  end_anchor_timestamp_ns: 1790046392715443845
+  frame_count: 277
+  duration_s: 9.232951
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 278
+    end_source_frame_index_exclusive: 555
+    start_source_timestamp_ns: 1790046383497843427
+    end_source_timestamp_ns: 1790046392730699253
+    start_delta_ns: 15350584
+    end_delta_ns: 15255408
+  '12933256':
+    start_source_frame_index: 277
+    end_source_frame_index_exclusive: 553
+    start_source_timestamp_ns: 1790046383481543315
+    end_source_timestamp_ns: 1790046392716396353
+    start_delta_ns: -949528
+    end_delta_ns: 952508
+  '17736741':
+    start_source_frame_index: 277
+    end_source_frame_index_exclusive: 554
+    start_source_timestamp_ns: 1790046383482492843
+    end_source_timestamp_ns: 1790046392715443845
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '23007103':
+    start_source_frame_index: 278
+    end_source_frame_index_exclusive: 555
+    start_source_timestamp_ns: 1790046383488120363
+    end_source_timestamp_ns: 1790046392721900075
+    start_delta_ns: 5627520
+    end_delta_ns: 6456230
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 15350584
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:23:48+00:00'
+updated_at: '2026-10-27T19:23:48+00:00'
+

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/preview_c6a_accessory_sparse_v1.log

@@ -0,0 +1 @@
+17736741/occluder t=0: 212425 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/correction_preview_c6a_accessory_sparse_v1/17736741/occluder_t0000.png

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/preview_c6a_accessory_sparse_v1_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/proposal_corrections_c6a_accessory_sparse_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/correction_preview_c6a_accessory_sparse_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/preview_c6a_accessory_sparse_v1_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.602792501449585,
+  "accepted": false
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/preview_c6a_accessory_sparse_v2.log

@@ -0,0 +1 @@
+17736741/occluder t=0: 277897 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/correction_preview_c6a_accessory_sparse_v2/17736741/occluder_t0000.png

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/preview_c6a_accessory_sparse_v2_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/proposal_corrections_c6a_accessory_sparse_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/correction_preview_c6a_accessory_sparse_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/preview_c6a_accessory_sparse_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.295495986938477,
+  "accepted": false
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/preview_selection_c6a_accessory_sparse_v2.json

@@ -0,0 +1,4 @@
+{
+  "agent_review": "Recovered broad central/lower coat and sleeves with hands/bracelet retained. Disclose irregular holes at lower coat/underarm and several bright bracelet links; no filling or different method.",
+  "owner_accepted": false
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propagate_17736741_c6a_recovery2.log

@@ -0,0 +1,12 @@
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/masks/17736741/object/run0001_t0000-0277.npz
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/masks/17736741/hand_A/run0001_t0000-0277.npz
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/masks/17736741/hand_B/run0001_t0000-0277.npz
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/masks/17736741/occluder/run0001_t0000-0277.npz

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propagate_17736741_c6a_recovery2_argv.json

@@ -0,0 +1,33 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/masks",
+  "--view",
+  "17736741",
+  "--instance",
+  "object",
+  "--instance",
+  "hand_A",
+  "--instance",
+  "hand_B",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "277",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a resumed after power interruption; same pinned predictor and prompts; owner acceptance pending"
+]

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propagate_17736741_c6a_recovery2_result.json

@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 100.07313084602356,
+  "started_unix": 1793138603.050072,
+  "accepted": false
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propagate_17736741_occluder_c6a_accessory_sparse_v2.log

@@ -0,0 +1,3 @@
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/masks/17736741/occluder/run0002_t0000-0277.npz

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propagate_17736741_occluder_c6a_accessory_sparse_v2_argv.json

@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/masks",
+  "--view",
+  "17736741",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "277",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a agent correction; no owner acceptance"
+]

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propagate_17736741_occluder_c6a_accessory_sparse_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 26.144953727722168,
+  "accepted": false
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/proposal_corrections_c6a_accessory_sparse_v1.json

@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          12,
+          101
+        ],
+        [
+          81,
+          542
+        ],
+        [
+          853,
+          484
+        ],
+        [
+          703,
+          724
+        ],
+        [
+          634,
+          670
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        0.0,
+        0.0,
+        931.0,
+        804.0
+      ],
+      "supersede": true,
+      "note": "Owner-directed sparse replacement for the full-person occluder: five total points selected after re-inspecting this exact own-camera native t0 RGB. Include visible body, sleeves, bare arms, hands and bracelet; preserve real background gaps and exclude the object. Hand masks are unchanged. Box preserved. Preview and propagation review required; no owner acceptance."
+    }
+  ],
+  "notes": "Sparse successor to the retained dense draft. Native evidence re-inspected 2026-10-27. Same SAM2 method; no multipart union or mask filling. Root owns preview and application."
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/proposal_corrections_c6a_accessory_sparse_v2.json

@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          12,
+          101
+        ],
+        [
+          80,
+          300
+        ],
+        [
+          853,
+          484
+        ],
+        [
+          703,
+          724
+        ],
+        [
+          638,
+          655
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        0.0,
+        0.0,
+        931.0,
+        804.0
+      ],
+      "supersede": true,
+      "note": "Sparse follow-up for material black-coat and broad bracelet omissions in the v1 preview. Move redundant lower-sleeve point (81,542) to native-confirmed omitted central coat (80,300); move bracelet seed onto its visible upper metal link (638,655). Retain face and both hand positives. Five total positives, same box/t0, supersede=true. Preserve real blue background gap between torso and upper arm. Same SAM2; preview required before propagation."
+    }
+  ],
+  "notes": "Sparse successor to the retained dense draft. Native evidence re-inspected 2026-10-27. Same SAM2 method; no multipart union or mask filling. Root owns preview and application."
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/proposal_prompts_c6a_before_accessories.json

@@ -0,0 +1,245 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "object",
+      "t": 0,
+      "points": [
+        [
+          802,
+          556
+        ],
+        [
+          932,
+          579
+        ],
+        [
+          985,
+          640
+        ],
+        [
+          949,
+          713
+        ],
+        [
+          840,
+          745
+        ],
+        [
+          706,
+          622
+        ],
+        [
+          843,
+          640
+        ],
+        [
+          748,
+          735
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        695,
+        542,
+        997,
+        754
+      ],
+      "note": "Visible orange cord; exclude interior and both grasping hands."
+    },
+    {
+      "serial": "17736741",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
+        [
+          521,
+          640
+        ],
+        [
+          594,
+          668
+        ],
+        [
+          692,
+          700
+        ],
+        [
+          750,
+          754
+        ],
+        [
+          633,
+          672
+        ],
+        [
+          422,
+          628
+        ],
+        [
+          844,
+          744
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        469,
+        594,
+        810,
+        802
+      ],
+      "note": "Physical right bracelet hand: bare forearm through fingertips, excluding bracelet and black cuff."
+    },
+    {
+      "serial": "17736741",
+      "instance": "hand_B",
+      "t": 0,
+      "points": [
+        [
+          683,
+          403
+        ],
+        [
+          753,
+          447
+        ],
+        [
+          837,
+          470
+        ],
+        [
+          880,
+          528
+        ],
+        [
+          594,
+          386
+        ],
+        [
+          921,
+          568
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        636,
+        359,
+        927,
+        568
+      ],
+      "note": "Physical left bare forearm and pinching hand; exclude sleeve and orange cord."
+    },
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          12,
+          101
+        ],
+        [
+          74,
+          312
+        ],
+        [
+          81,
+          542
+        ],
+        [
+          301,
+          230
+        ],
+        [
+          546,
+          350
+        ],
+        [
+          731,
+          441
+        ],
+        [
+          853,
+          484
+        ],
+        [
+          308,
+          579
+        ],
+        [
+          542,
+          649
+        ],
+        [
+          703,
+          724
+        ],
+        [
+          632,
+          675
+        ],
+        [
+          408,
+          457
+        ],
+        [
+          843,
+          641
+        ],
+        [
+          637,
+          900
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        0,
+        0,
+        931,
+        804
+      ],
+      "note": "Whole visible human including partial face at upper-left, torso, both sleeves, bare forearms, bracelet and hands; exclude robot and table."
+    }
+  ],
+  "notes": "Native 1920x1080 t0 grid inspected for this exact camera. Camera-native sequence length 277; no cross-camera equal-length assumption. Physical right bracelet hand is A, physical left hand is B. Agent proposal only; no acceptance and no case writes."
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/proposal_prompts_c6a_v1.json

@@ -0,0 +1,250 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "object",
+      "t": 0,
+      "points": [
+        [
+          802,
+          556
+        ],
+        [
+          932,
+          579
+        ],
+        [
+          985,
+          640
+        ],
+        [
+          949,
+          713
+        ],
+        [
+          840,
+          745
+        ],
+        [
+          706,
+          622
+        ],
+        [
+          843,
+          640
+        ],
+        [
+          748,
+          735
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        695,
+        542,
+        997,
+        754
+      ],
+      "note": "Visible orange cord; exclude interior and both grasping hands."
+    },
+    {
+      "serial": "17736741",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
+        [
+          521,
+          640
+        ],
+        [
+          594,
+          668
+        ],
+        [
+          692,
+          700
+        ],
+        [
+          750,
+          754
+        ],
+        [
+          633,
+          672
+        ],
+        [
+          422,
+          628
+        ],
+        [
+          844,
+          744
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        469,
+        594,
+        810,
+        802
+      ],
+      "note": "Physical right bracelet hand: bare forearm through fingertips, excluding bracelet and black cuff."
+    },
+    {
+      "serial": "17736741",
+      "instance": "hand_B",
+      "t": 0,
+      "points": [
+        [
+          683,
+          403
+        ],
+        [
+          753,
+          447
+        ],
+        [
+          837,
+          470
+        ],
+        [
+          880,
+          528
+        ],
+        [
+          594,
+          386
+        ],
+        [
+          921,
+          568
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        636,
+        359,
+        927,
+        568
+      ],
+      "note": "Physical left bare forearm and pinching hand; exclude sleeve and orange cord."
+    },
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          12,
+          101
+        ],
+        [
+          74,
+          312
+        ],
+        [
+          81,
+          542
+        ],
+        [
+          301,
+          230
+        ],
+        [
+          546,
+          350
+        ],
+        [
+          731,
+          441
+        ],
+        [
+          853,
+          484
+        ],
+        [
+          308,
+          579
+        ],
+        [
+          542,
+          649
+        ],
+        [
+          703,
+          724
+        ],
+        [
+          632,
+          675
+        ],
+        [
+          408,
+          457
+        ],
+        [
+          843,
+          641
+        ],
+        [
+          637,
+          900
+        ],
+        [
+          633,
+          672
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0,
+        1
+      ],
+      "box": [
+        0,
+        0,
+        931,
+        804
+      ],
+      "note": "Whole visible human including partial face at upper-left, torso, both sleeves, bare forearms, bracelet and hands; exclude robot and table. Owner clarification: full-person occluder includes clothing and accessories. Added positive on visible silver bracelet, confirmed against this own-camera native t0 grid. Hand_A continues to exclude bracelet."
+    }
+  ],
+  "notes": "Native 1920x1080 t0 grid inspected for this exact camera. Camera-native sequence length 277; no cross-camera equal-length assumption. Physical right bracelet hand is A, physical left hand is B. Agent proposal only; no acceptance and no case writes. Accessory revision v2 changes only the occluder bracelet positive; no window, object or hand changes. Initial proposal form; existing saved prompts require a versioned superseding correction."
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propose_c6a_accessory_sparse_v2.log

@@ -0,0 +1 @@
+17736741/occluder t=0: 277897 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/correction_overlays_c6a_accessory_sparse_v2/17736741/occluder_t0000.png

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propose_c6a_accessory_sparse_v2_argv.json

@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/proposal_corrections_c6a_accessory_sparse_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/correction_overlays_c6a_accessory_sparse_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propose_c6a_accessory_sparse_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.261291980743408,
+  "accepted": false
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propose_c6a_recovery2.log

@@ -0,0 +1,4 @@
+17736741/object t=0: 7423 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/proposal_overlays_c6a_recovery2/17736741/object_t0000.png
+17736741/hand_A t=0: 28688 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/proposal_overlays_c6a_recovery2/17736741/hand_A_t0000.png
+17736741/hand_B t=0: 21091 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/proposal_overlays_c6a_recovery2/17736741/hand_B_t0000.png
+17736741/occluder t=0: 242662 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/proposal_overlays_c6a_recovery2/17736741/occluder_t0000.png

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propose_c6a_recovery2_argv.json

@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/proposal_prompts_c6a_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/proposal_overlays_c6a_recovery2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/propose_c6a_recovery2_result.json

@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 52.15734529495239,
+  "started_unix": 1793138550.8914688,
+  "accepted": false
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/review-media_c6a_recovery2.log

@@ -0,0 +1 @@
+Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_recovery2

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/review-media_c6a_recovery2_argv.json

@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_recovery2",
+  "--view",
+  "17736741",
+  "--t",
+  "0",
+  "--t",
+  "69",
+  "--t",
+  "138",
+  "--t",
+  "207",
+  "--t",
+  "276"
+]

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/review-media_c6a_recovery2_result.json

@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 44.31881833076477,
+  "started_unix": 1793138703.6397543,
+  "accepted": false
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/review_c6a_accessory_sparse_v2.log

@@ -0,0 +1 @@
+Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_accessory_sparse_v2

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/review_c6a_accessory_sparse_v2_argv.json

@@ -0,0 +1,29 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_accessory_sparse_v2",
+  "--view",
+  "17736741",
+  "--instance",
+  "occluder",
+  "--t",
+  "0",
+  "--t",
+  "69",
+  "--t",
+  "138",
+  "--t",
+  "207",
+  "--t",
+  "276"
+]

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/review_c6a_accessory_sparse_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 27.091309785842896,
+  "accepted": false
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/window_command.json

@@ -0,0 +1,22 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_annotate_converted_session_window.py",
+  "--session-path",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--anchor-serial",
+  "17736741",
+  "--start-timestamp-ns",
+  "1790046383482492843",
+  "--end-timestamp-ns",
+  "1790046392715443845",
+  "--expected-visible-hands-or-arms",
+  "2",
+  "--object-description",
+  "taped round belt",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A+hand_B",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start = last participating hand (hand_B, person's left) closes its fingertip pinch on the far side of the belt: fingertips reach the belt at anchor ~275-277 and are on it from 278 (12540311 single-frame scan). hand_A (bracelet) had already wrapped the near side ~anchor 267-272. End = last frame before the first release: hand_B's pinch is intact through anchor 554 and its fingers open/lift at 555-557; hand_A leaves at ~557-558 (12540311 single-frame scan, confirmed in 17736741). No regrasp, hand change or visible slip at stride 8 in 17736741 over 277-555.",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/phystwin_window.yaml"
+]

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json

@@ -0,0 +1,114 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_230550_636767",
+    "window_sha256": "d7ecec864e03c6e719d323a0b44e5384dc93e09124c8103dd503d7cadc04dd64",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
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+      554
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+    "anchor_time_ns_first_last": [
+      1790046383488120363,
+      1790046392721900075
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+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "hand_A",
+  "frame": {
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+    "sync_index": 277,
+    "converted_frame_index": 278,
+    "official_frame_index": 278,
+    "native_container_frame_index": 279,
+    "view_time_ns": 1790046383488120363
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
+  ],
+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
+    [
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+      326.0
+    ],
+    [
+      1180.0,
+      310.0
+    ],
+    [
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+      381.0
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+    [
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+      414.0
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+    [
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+    [
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+  "labels": [
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+  "box_uv": [
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+    283.0,
+    1207.0,
+    453.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right bracelet hand, on image left: hand and exposed forearm; exclude bracelet and black sleeve.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "7f78178af8f19caf708a66566b152d4915e0a18dcd4109e8337ab5c4fccb0cb8",
+  "seed_mask_pixels": 10181,
+  "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": "2026-10-27T22:05:55Z"
+}

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7f78178af8f19caf708a66566b152d4915e0a18dcd4109e8337ab5c4fccb0cb8
+size 1789

sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/23007103/annotations/prompts/23007103/hand_B/t0000_v01.json

@@ -0,0 +1,114 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_230550_636767",
+    "window_sha256": "d7ecec864e03c6e719d323a0b44e5384dc93e09124c8103dd503d7cadc04dd64",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      277,
+      554
+    ],
+    "anchor_time_ns_first_last": [
+      1790046383488120363,
+      1790046392721900075
+    ]
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 277,
+    "converted_frame_index": 278,
+    "official_frame_index": 278,
+    "native_container_frame_index": 279,
+    "view_time_ns": 1790046383488120363
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
+  ],
+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
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