sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701: payload batch 1/1

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/C6A_REVIEW.md

@@ -0,0 +1,35 @@
+# session_20260921_232616_062985: C6a proposal review
+
+**Status: agent proposal; owner mask/window/contact decisions pending.**
+
+Object: grey timing belt. Motion: two-handed grasp lifting completely off table, lateral shearing cycles, then put down.
+Current packet anchor converted frames: **292–701 inclusive**.
+Current packet endpoint sync timestamps: `1790047609064616821` / `1790047622746667755` 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_232616_062985/window_proposal_c1/proposal.json`.
+
+## Exact own-camera mapping
+
+| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns |
+|---|---|---|---|---|
+| 12540311 | 0–409 | 292–701 | 293–702 | 1790047609064616821 / 1790047622746667755 |
+| 12933256 | 0–409 | 292–701 | 293–702 | 1790047609075339314 / 1790047622755183126 |
+| 17736741 | 0–409 | 292–701 | 293–702 | 1790047609051524367 / 1790047622731683016 |
+| 23007103 | 0–409 | 292–701 | 293–702 | 1790047609073733886 / 1790047622752543200 |
+
+## 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: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12540311_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12540311_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12540311_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12540311_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12540311_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12540311_v1/boundary_end.mp4).
+- Views 12933256: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12933256_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12933256_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12933256_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12933256_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12933256_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12933256_v1/boundary_end.mp4).
+- Views 17736741: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_17736741_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_17736741_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_17736741_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_17736741_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_17736741_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_17736741_v1/boundary_end.mp4).
+- Views 23007103: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_23007103_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_23007103_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_23007103_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_23007103_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_23007103_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_23007103_v1/boundary_end.mp4).
+
+## Decisions and downstream boundary
+
+This card records the decisions above and grants no additional stage. Actual owner mask/window decisions must be recorded before final tracking. The three pushes also require an explicit decision about the fixed material-attachment approximation. After prompt corrections, perform fresh current-input admission; an old fitting identity alone does not detect every C1 F3 correction.
+
+C6a review findings and decisions are collected under `lab/c6a_20261027/`; source C1 records and protected A/B inputs remain unchanged.

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12540311/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609064616821
+  },
+  "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": [
+    [
+      790.0,
+      890.0
+    ],
+    [
+      940.0,
+      895.0
+    ],
+    [
+      980.0,
+      937.0
+    ],
+    [
+      894.0,
+      875.0
+    ],
+    [
+      707.0,
+      915.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    733.0,
+    810.0,
+    1019.0,
+    978.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft participating right hand (bracelet side), fingers and visible bare forearm; exclude bracelet, sleeve and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "cc018d31f2a4c922626fff30dd06d848af61acf665bae5de7be7c262735229b4",
+  "seed_mask_pixels": 26167,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:32:36Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/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:cc018d31f2a4c922626fff30dd06d848af61acf665bae5de7be7c262735229b4
+size 1997

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12540311/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609064616821
+  },
+  "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": [
+    [
+      670.0,
+      490.0
+    ],
+    [
+      792.0,
+      512.0
+    ],
+    [
+      857.0,
+      576.0
+    ],
+    [
+      588.0,
+      500.0
+    ],
+    [
+      875.0,
+      610.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    620.0,
+    444.0,
+    883.0,
+    598.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft participating left hand, fingers and visible bare forearm; exclude sleeve, right hand and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "e27fe903a92c38edb3fd2aa64c3dc23a4036cef3165b9ad146f5c8ef00322bf4",
+  "seed_mask_pixels": 17437,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:32:36Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/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:e27fe903a92c38edb3fd2aa64c3dc23a4036cef3165b9ad146f5c8ef00322bf4
+size 1608

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12540311/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609064616821
+  },
+  "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": [
+    [
+      906.0,
+      603.0
+    ],
+    [
+      1052.0,
+      736.0
+    ],
+    [
+      1031.0,
+      815.0
+    ],
+    [
+      788.0,
+      740.0
+    ],
+    [
+      920.0,
+      725.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0
+  ],
+  "box_uv": [
+    765.0,
+    582.0,
+    1066.0,
+    868.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft from exact native t=0 RGB: grey timing-belt band only; exclude interior table, shadow and hands. Occluded rim segments must not become hand masks. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "bc696f149264b8f783039effa6044c0d6e6126fc324717835851d829ee148f53",
+  "seed_mask_pixels": 13965,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:32:36Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc696f149264b8f783039effa6044c0d6e6126fc324717835851d829ee148f53
+size 2532

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12540311/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609064616821
+  },
+  "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": [
+    [
+      250.0,
+      140.0
+    ],
+    [
+      300.0,
+      450.0
+    ],
+    [
+      320.0,
+      940.0
+    ],
+    [
+      792.0,
+      512.0
+    ],
+    [
+      894.0,
+      875.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    1
+  ],
+  "box_uv": [
+    0.0,
+    0.0,
+    1025.0,
+    1079.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft whole visible person, including head where visible, clothing, both bare arms/hands and bracelet; exclude table, robot and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "aa0792c3feaff7a432f78b8de105ddeb7191ffbbc32275acdff12b12348dd628",
+  "seed_mask_pixels": 453521,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:32:37Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12540311/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa0792c3feaff7a432f78b8de105ddeb7191ffbbc32275acdff12b12348dd628
+size 5944

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12933256/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609075339314
+  },
+  "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": [
+    [
+      1040.0,
+      434.0
+    ],
+    [
+      1152.0,
+      399.0
+    ],
+    [
+      990.0,
+      472.0
+    ],
+    [
+      1077.0,
+      409.0
+    ],
+    [
+      1235.0,
+      370.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    969.0,
+    335.0,
+    1232.0,
+    501.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft participating right hand (bracelet side), fingers and visible bare forearm; exclude bracelet, sleeve and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "c69f939aacd690db0350d584ef4174605be3dd390559d77e5799f354cc56f9e6",
+  "seed_mask_pixels": 15793,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:39Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/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:c69f939aacd690db0350d584ef4174605be3dd390559d77e5799f354cc56f9e6
+size 1852

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12933256/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609075339314
+  },
+  "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": [
+    [
+      830.0,
+      616.0
+    ],
+    [
+      920.0,
+      580.0
+    ],
+    [
+      782.0,
+      665.0
+    ],
+    [
+      991.0,
+      576.0
+    ],
+    [
+      928.0,
+      643.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    752.0,
+    523.0,
+    981.0,
+    708.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft participating left hand, fingers and visible bare forearm; exclude sleeve, right hand and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "68269b7d540e5914607aad1e325c305fe3cb6907fcb420147baffc5de1e9a90e",
+  "seed_mask_pixels": 20001,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:40Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12933256/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68269b7d540e5914607aad1e325c305fe3cb6907fcb420147baffc5de1e9a90e
+size 1705

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12933256/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609075339314
+  },
+  "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": [
+    [
+      838.0,
+      521.0
+    ],
+    [
+      934.0,
+      494.0
+    ],
+    [
+      783.0,
+      561.0
+    ],
+    [
+      928.0,
+      643.0
+    ],
+    [
+      900.0,
+      535.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0
+  ],
+  "box_uv": [
+    767.0,
+    474.0,
+    1014.0,
+    663.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft from exact native t=0 RGB: grey timing-belt band only; exclude interior table, shadow and hands. Occluded rim segments must not become hand masks. Heavy left-arm occlusion at the first frame; only visible arcs receive positive prompts. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "07ea3ae53beecdb664c235514045dc3f9e9f9ce1639e38b1880df63577cfaa3c",
+  "seed_mask_pixels": 9792,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:39Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12933256/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ea3ae53beecdb664c235514045dc3f9e9f9ce1639e38b1880df63577cfaa3c
+size 1686

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12933256/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609075339314
+  },
+  "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": [
+    [
+      1790.0,
+      110.0
+    ],
+    [
+      1240.0,
+      555.0
+    ],
+    [
+      1150.0,
+      400.0
+    ],
+    [
+      837.0,
+      616.0
+    ],
+    [
+      1077.0,
+      409.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    1
+  ],
+  "box_uv": [
+    750.0,
+    0.0,
+    1919.0,
+    711.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft whole visible person, including head where visible, clothing, both bare arms/hands and bracelet; exclude table, robot and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "829950bb2887a5369f6adbb0ed27eef44f0c0cb4a501ebfefd588724c49ae813",
+  "seed_mask_pixels": 352916,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:40Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/12933256/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:829950bb2887a5369f6adbb0ed27eef44f0c0cb4a501ebfefd588724c49ae813
+size 4714

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/17736741/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609051524367
+  },
+  "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": [
+    [
+      740.0,
+      728.0
+    ],
+    [
+      920.0,
+      815.0
+    ],
+    [
+      995.0,
+      778.0
+    ],
+    [
+      857.0,
+      762.0
+    ],
+    [
+      650.0,
+      695.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    663.0,
+    660.0,
+    1040.0,
+    914.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft participating right hand (bracelet side), fingers and visible bare forearm; exclude bracelet, sleeve and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "c83d1d37b82e34148582b6726753230179a713337e69c978c440517c936ae045",
+  "seed_mask_pixels": 35325,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:39Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/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:c83d1d37b82e34148582b6726753230179a713337e69c978c440517c936ae045
+size 2418

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/17736741/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609051524367
+  },
+  "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": [
+    [
+      912.0,
+      370.0
+    ],
+    [
+      1041.0,
+      447.0
+    ],
+    [
+      1120.0,
+      507.0
+    ],
+    [
+      841.0,
+      349.0
+    ],
+    [
+      1100.0,
+      555.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    846.0,
+    318.0,
+    1142.0,
+    548.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft participating left hand, fingers and visible bare forearm; exclude sleeve, right hand and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "2a4ac542a9a88ef268eb615eb4a30dcbade83f4c4bad1c4db0f68ce23e3cf795",
+  "seed_mask_pixels": 21669,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:39Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/17736741/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a4ac542a9a88ef268eb615eb4a30dcbade83f4c4bad1c4db0f68ce23e3cf795
+size 2009

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/17736741/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609051524367
+  },
+  "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": [
+    [
+      1094.0,
+      558.0
+    ],
+    [
+      1210.0,
+      692.0
+    ],
+    [
+      1068.0,
+      825.0
+    ],
+    [
+      950.0,
+      686.0
+    ],
+    [
+      1090.0,
+      680.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0
+  ],
+  "box_uv": [
+    938.0,
+    540.0,
+    1224.0,
+    839.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft from exact native t=0 RGB: grey timing-belt band only; exclude interior table, shadow and hands. Occluded rim segments must not become hand masks. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "d78d54aefe838deb74f34e8e748cef4641aa5c051fab6022777b8666158968cb",
+  "seed_mask_pixels": 15170,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:39Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d78d54aefe838deb74f34e8e748cef4641aa5c051fab6022777b8666158968cb
+size 2517

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/17736741/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609051524367
+  },
+  "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": [
+    [
+      160.0,
+      75.0
+    ],
+    [
+      110.0,
+      295.0
+    ],
+    [
+      1041.0,
+      447.0
+    ],
+    [
+      920.0,
+      815.0
+    ],
+    [
+      857.0,
+      762.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    1
+  ],
+  "box_uv": [
+    0.0,
+    0.0,
+    1144.0,
+    918.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft whole visible person, including head where visible, clothing, both bare arms/hands and bracelet; exclude table, robot and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "a090995fe540f1a2934d8ee9a7345d935208a22f5db5e1034062b69037d27364",
+  "seed_mask_pixels": 401019,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:40Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/17736741/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a090995fe540f1a2934d8ee9a7345d935208a22f5db5e1034062b69037d27364
+size 7763

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/23007103/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609073733886
+  },
+  "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": [
+    [
+      1034.0,
+      330.0
+    ],
+    [
+      953.0,
+      410.0
+    ],
+    [
+      888.0,
+      449.0
+    ],
+    [
+      988.0,
+      367.0
+    ],
+    [
+      1061.0,
+      294.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    871.0,
+    278.0,
+    1088.0,
+    482.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft participating right hand (bracelet side), fingers and visible bare forearm; exclude bracelet, sleeve and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "aa8f00676b2521038e2e5c9cad8b812c4e1f045d0eeb4f8de9de108da3a93c6a",
+  "seed_mask_pixels": 12730,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:46Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/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:aa8f00676b2521038e2e5c9cad8b812c4e1f045d0eeb4f8de9de108da3a93c6a
+size 1879

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/23007103/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609073733886
+  },
+  "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,
+      448.0
+    ],
+    [
+      1197.0,
+      566.0
+    ],
+    [
+      1116.0,
+      568.0
+    ],
+    [
+      1343.0,
+      428.0
+    ],
+    [
+      1090.0,
+      619.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    1090.0,
+    399.0,
+    1354.0,
+    636.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft participating left hand, fingers and visible bare forearm; exclude sleeve, right hand and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "35808b2e4e6d6035b5189f0eeb95ec02dcecbfd838dd1def8e3f5408c698cb64",
+  "seed_mask_pixels": 21873,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:46Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/23007103/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35808b2e4e6d6035b5189f0eeb95ec02dcecbfd838dd1def8e3f5408c698cb64
+size 2051

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/23007103/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609073733886
+  },
+  "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": [
+    [
+      970.0,
+      485.0
+    ],
+    [
+      1090.0,
+      522.0
+    ],
+    [
+      1088.0,
+      614.0
+    ],
+    [
+      873.0,
+      543.0
+    ],
+    [
+      1000.0,
+      550.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0
+  ],
+  "box_uv": [
+    860.0,
+    465.0,
+    1138.0,
+    637.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft from exact native t=0 RGB: grey timing-belt band only; exclude interior table, shadow and hands. Occluded rim segments must not become hand masks. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "f8008ed9b467b33f061bebdc3b3dcf460a2df76f33e05c18ef415d217ea4152f",
+  "seed_mask_pixels": 14552,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:46Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/23007103/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8008ed9b467b33f061bebdc3b3dcf460a2df76f33e05c18ef415d217ea4152f
+size 2081

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/23007103/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232616_062985",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      291,
+      701
+    ],
+    "anchor_time_ns_first_last": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 291,
+    "converted_frame_index": 292,
+    "official_frame_index": 292,
+    "native_container_frame_index": 293,
+    "view_time_ns": 1790047609073733886
+  },
+  "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": [
+    [
+      1425.0,
+      214.0
+    ],
+    [
+      1197.0,
+      200.0
+    ],
+    [
+      1197.0,
+      570.0
+    ],
+    [
+      953.0,
+      410.0
+    ],
+    [
+      988.0,
+      367.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    1
+  ],
+  "box_uv": [
+    870.0,
+    0.0,
+    1695.0,
+    638.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Draft whole visible person, including head where visible, clothing, both bare arms/hands and bracelet; exclude table, robot and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "1ba906d412b3b8137b3462661de31e347713455c4da9e16fe9a93f0903fac279",
+  "seed_mask_pixels": 193110,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_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": "2026-10-27T23:41:47Z"
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/annotations/prompts/23007103/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba906d412b3b8137b3462661de31e347713455c4da9e16fe9a93f0903fac279
+size 5520

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/grasp_import_12540311_v1.json

@@ -0,0 +1,43 @@
+{
+  "source_returned_worker": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/grasp_results_v1/232616/12540311_attempt2/worker-1473763",
+  "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701",
+  "serial": "12540311",
+  "frame_bundle_byte_equal": true,
+  "roles": [
+    {
+      "role": "object",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "hand_A",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "hand_B",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "occluder",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    }
+  ],
+  "media": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12540311_v1",
+  "owner_window_accepted": false,
+  "owner_masks_accepted": false
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/grasp_import_12933256_v1.json

@@ -0,0 +1,43 @@
+{
+  "source_returned_worker": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/grasp_results_v1/232616/12933256/worker-1473780",
+  "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701",
+  "serial": "12933256",
+  "frame_bundle_byte_equal": true,
+  "roles": [
+    {
+      "role": "object",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "hand_A",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "hand_B",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "occluder",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    }
+  ],
+  "media": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_12933256_v1",
+  "owner_window_accepted": false,
+  "owner_masks_accepted": false
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/grasp_import_17736741_v1.json

@@ -0,0 +1,43 @@
+{
+  "source_returned_worker": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/grasp_results_v1/232616/17736741/worker-1473782",
+  "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701",
+  "serial": "17736741",
+  "frame_bundle_byte_equal": true,
+  "roles": [
+    {
+      "role": "object",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "hand_A",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "hand_B",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "occluder",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    }
+  ],
+  "media": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_17736741_v1",
+  "owner_window_accepted": false,
+  "owner_masks_accepted": false
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/grasp_import_23007103_v1.json

@@ -0,0 +1,43 @@
+{
+  "source_returned_worker": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/grasp_results_v1/232616/23007103/worker-1473784",
+  "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701",
+  "serial": "23007103",
+  "frame_bundle_byte_equal": true,
+  "roles": [
+    {
+      "role": "object",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "hand_A",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "hand_B",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    },
+    {
+      "role": "occluder",
+      "T": 410,
+      "supplier_runs": [
+        1
+      ],
+      "current_prompt_seed_and_frame_binding_passed": true
+    }
+  ],
+  "media": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/review_media_c6a_grasp_23007103_v1",
+  "owner_window_accepted": false,
+  "owner_masks_accepted": false
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/inspect.log

@@ -0,0 +1 @@
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/inspection/inspection.json

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/inspect_command.json

@@ -0,0 +1,15 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "inspect",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232616_062985",
+  "--window",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/phystwin_window.yaml",
+  "--frame-association",
+  "per_camera_native_range",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/inspection",
+  "--sample-t",
+  "0"
+]

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/inspection/frames.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ddb9ca67f457273f9fa7c6c902c849e00247baf8de0c5dbcfa4ed8e006e800
+size 100656

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/inspection/inspection.json

@@ -0,0 +1,345 @@
+{
+  "frame_count": 410,
+  "transition_count": 409,
+  "sync_index_half_open": [
+    291,
+    701
+  ],
+  "anchor_time_ns_first_last": [
+    1790047609064616821,
+    1790047622746667755
+  ],
+  "anchor_span_s": 13.682050934000001,
+  "anchor_interval_ms": {
+    "min": 19.938935,
+    "median": 33.447721,
+    "max": 46.750871
+  },
+  "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": [
+        292,
+        702
+      ],
+      "distinct_frames": 410,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 410,
+      "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": [
+        1505.6788330078125,
+        1505.6788330078125,
+        975.8064575195312,
+        520.2476806640625
+      ],
+      "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": [
+        292,
+        702
+      ],
+      "distinct_frames": 410,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 410,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": 2.642584,
+        "median": 9.6504,
+        "max": 13.147742
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1484.93212890625,
+        1484.93212890625,
+        1016.495361328125,
+        529.3904418945312
+      ],
+      "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": [
+        292,
+        702
+      ],
+      "distinct_frames": 410,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 410,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": -26.431079,
+        "median": -14.169804,
+        "max": -9.272836999999999
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1509.048828125,
+        1509.048828125,
+        954.299072265625,
+        518.1408081054688
+      ],
+      "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": [
+        292,
+        702
+      ],
+      "distinct_frames": 410,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 410,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": 0.961382,
+        "median": 6.6471465,
+        "max": 13.336250999999999
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1054.26220703125,
+        1054.26220703125,
+        969.4039306640625,
+        516.390869140625
+      ],
+      "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_232616_062985",
+    "session_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232616_062985",
+    "window_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232616_062985/window_anchor0292-0701/phystwin_window.yaml",
+    "window_sha256": "734fdd48dc1d833838a728b4d24af6a72ee1e670d0cd05cde431619390ead530",
+    "window_resolved": {
+      "duration_s": 13.682051,
+      "end_anchor_timestamp_ns": 1790047622746667755,
+      "end_sync_index_exclusive": 701,
+      "frame_count": 410,
+      "start_anchor_timestamp_ns": 1790047609064616821,
+      "start_sync_index": 291
+    },
+    "manual_annotation_ns": [
+      1790047609064616821,
+      1790047622746667755
+    ],
+    "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": 292,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 5405
+      },
+      "depth_zero_fraction": 0.040804398148148145,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.393,
+        1.205,
+        5.405
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "12933256",
+      "converted_frame_index": 292,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 7788
+      },
+      "depth_zero_fraction": 0.03415268132716049,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.465,
+        1.078,
+        7.788
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "17736741",
+      "converted_frame_index": 292,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 3708
+      },
+      "depth_zero_fraction": 0.018405189043209876,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.58,
+        1.104,
+        3.708
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "23007103",
+      "converted_frame_index": 292,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 4798
+      },
+      "depth_zero_fraction": 0.045815007716049384,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.481,
+        1.01,
+        4.798
+      ]
+    }
+  ]
+}

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/masks/12540311/hand_A/run0001_t0000-0410.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ce50a548f161a4eb6e3fd893289a39a519c3a74e20148dfcd949c6e2e93744
+size 583739

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/masks/12540311/hand_B/run0001_t0000-0410.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:981cf36f74d76dd6280b238126619c0cf64ab60af6eee0daec726d4a4ab858ae
+size 462539

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/masks/12540311/object/run0001_t0000-0410.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b9f1473843b8b24758e1440dd6877690e7d88785441e986584157b2d31ce3e7
+size 624268

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/masks/12540311/occluder/run0001_t0000-0410.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c71ecc4be53c9e449466b9ef46ddd5e40b0fe990c21b968fd80631f207b885ea
+size 2114667

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/masks/12933256/hand_A/run0001_t0000-0410.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:766aa74947e74e77af935b2af91a35f7086ab239ed7717eccaa69a0230bf05aa
+size 358192

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/masks/12933256/hand_B/run0001_t0000-0410.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5944938edc3e257a14a7551451a0843f16424f339fbec74e0e97a5b4101715
+size 329115

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/masks/12933256/object/run0001_t0000-0410.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:890df8df589219b2ef107ec4dad91911a34ef348dbd1c033cd62c164f96b4414
+size 316138

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/masks/12933256/occluder/run0001_t0000-0410.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d7d3102e5b602c01898c847cb0fab6359a45946b604d01bd7ec40f052ca794d
+size 1581174

sessions/session_20260921_232616_062985/preprocessing/mask-supplier-window-anchor0292-0701/native/masks/17736741/hand_A/run0001_t0000-0410.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55702c50d27b26819b2f1e5a001e1ccf538efafc5e852a34fe848f8da4ecf010
+size 575963