diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/C6A_REVIEW.md b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/C6A_REVIEW.md deleted file mode 100644 index 05941c83e7ff1febc466f16d97b87dda8b173cc7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/C6A_REVIEW.md +++ /dev/null @@ -1,60 +0,0 @@ -# session_20260921_225524_803572: selected-window mask review - -**window, masks, prior and trained appearance accepted; mechanical inputs and static review complete.** - -Owner-selected anchor camera 12540311 converted frames: **471–708 inclusive**. -Object: taped round belt. Motion: right-handed lift completely off the table without letting pivot then place down. -Participating controllers: `hand_A`. A is the right bracelet hand; B is the left hand. -Hand masks cover visible bare forearm through fingertips and exclude sleeve/bracelet. The occluder covers the whole visible person, clothing, accessories and nonparticipating hands. - -[Recorded owner window decision](owner_window_decision.json) and [2026-10-28 owner mask review](owner_mask_acceptance_c6a_selected_20261028.json). Accept the reviewed object, hand_A, hand_B and whole-person occluder masks in all four cameras on the owner-selected window for reference input preparation. Prior, appearance and push fixed-attachment decisions remain separate. - -## Four-camera tiled videos - -Each video shows all four cameras in a 2×2 layout: **12540311 / 12933256** above **17736741 / 23007103**. - -[Object](review_tiled_c6a_20261028/role_object.mp4) · [Right hand A](review_tiled_c6a_20261028/role_hand_A.mp4) · [Left hand B](review_tiled_c6a_20261028/role_hand_B.mp4) · [Whole person](review_tiled_c6a_20261028/role_occluder.mp4) - -Playback is 10 frames/s for inspection. Views are associated by recorded timestamps; every native capture appears, with repeated tiles where needed. Labels show each camera’s selected-local, converted and native frame numbers, capture timestamp and offset from the display event. This is a display association, not a change to the masks or selected windows. - -[Exact displayed capture mapping](review_tiled_c6a_20261028/media_index.json). - -## Exact own-camera mapping - -| Camera | Selected-local t | Converted frames | Native container frames | First / last capture timestamp ns | -|---|---|---|---|---| -| 12540311 | 0–237 | 471–708 | 472–709 | 1790045767459413991 / 1790045775420476731 | -| 12933256 | 0–237 | 470–707 | 471–708 | 1790045767443065165 / 1790045775405014498 | -| 17736741 | 0–237 | 471–708 | 472–709 | 1790045767475142058 / 1790045775437383010 | -| 23007103 | 0–237 | 471–708 | 472–709 | 1790045767467792575 / 1790045775431463339 | - -[Selected native input manifest](native_inputs/per_camera_inputs.json) and [exact source-mask row selection](mask_review_selection.json). Only each product’s named owning column is admitted; other columns are display associations. - -## Selected-window role clips - -Clips play every selected capture at 10 frames/s and retain the source capture timestamps. The first label uses selected-local `t`; each camera has its own count. The native mask arrays remain unchanged in the source packets. - -| Camera | Object | Right hand A | Left hand B | Whole person | -|---|---|---|---|---| -| 12540311 | [object](review_media_owner_window_20261028/12540311/role_object.mp4) | [hand_A](review_media_owner_window_20261028/12540311/role_hand_A.mp4) | [hand_B](review_media_owner_window_20261028/12540311/role_hand_B.mp4) | [occluder](review_media_owner_window_20261028/12540311/role_occluder.mp4) | -| 12933256 | [object](review_media_owner_window_20261028/12933256/role_object.mp4) | [hand_A](review_media_owner_window_20261028/12933256/role_hand_A.mp4) | [hand_B](review_media_owner_window_20261028/12933256/role_hand_B.mp4) | [occluder](review_media_owner_window_20261028/12933256/role_occluder.mp4) | -| 17736741 | [object](review_media_owner_window_20261028/17736741/role_object.mp4) | [hand_A](review_media_owner_window_20261028/17736741/role_hand_A.mp4) | [hand_B](review_media_owner_window_20261028/17736741/role_hand_B.mp4) | [occluder](review_media_owner_window_20261028/17736741/role_occluder.mp4) | -| 23007103 | [object](review_media_owner_window_20261028/23007103/role_object.mp4) | [hand_A](review_media_owner_window_20261028/23007103/role_hand_A.mp4) | [hand_B](review_media_owner_window_20261028/23007103/role_hand_B.mp4) | [occluder](review_media_owner_window_20261028/23007103/role_occluder.mp4) | - -[First / middle / last person-mask readback](review_media_owner_window_20261028/occluder_first_middle_last.jpg) and [media selection/admission record](review_media_owner_window_20261028/media_index.json). - -## Existing evidence and remaining review - -[Earlier packet and boundary context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/C6A_REVIEW.md) remain available; their old interval is historical. The existing mask quality findings remain relevant where their captures are retained. A trim does not correct mask defects or constitute a new full-playback mask review. - -Known residual: 12933256 chest cord is partly omitted; lower-foot coverage in 23007103 remains limited. Rejected correction previews were not applied. - -## Accepted preparation - -[Reference observations](accepted_input_preparation_c6a_v1/review_v1/REVIEW.md) · [Accepted initial prior](accepted_input_preparation_c6a_v1/prior_review_v1/PRIOR_REVIEW_c6a_v1.md) · [Prior acceptance](owner_prior_acceptance_c6a_v1.json). - -[Trained appearance review](accepted_input_preparation_c6a_v1/APPEARANCE_REVIEW_c6a_v1.md) · [Appearance acceptance](owner_appearance_acceptance_c6a_v1.json). - -Mechanical preparation and bounded static review passed: 869 observed +139 surface +0 core particles, each of unit mass; total1008 mass units. Thirty measured hand_A controls pass the inclusive initial4cm gate. [Numerical review](accepted_input_preparation_c6a_v1/supervision/review_c6a_v1/numerical_review.json) · [Initial geometry](accepted_input_preparation_c6a_v1/supervision/review_c6a_v1/initial_geometry.png) · [Graph and measured controls](accepted_input_preparation_c6a_v1/supervision/review_c6a_v1/graph_and_observed_controls.png). - -These are prepared inputs and static appearance results. No physical fitting or dynamics has run. diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/mask_review_selection.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/mask_review_selection.json deleted file mode 100644 index a7afe117be328d74aaf99860a32e61acb6f1d31d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/mask_review_selection.json +++ /dev/null @@ -1,1112 +0,0 @@ -{ - "purpose": "Review-only exact own-camera selection from original validated masks; no window rebinding or signoff", - "owner_window_decision": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_window_decision.json", - "previous_packet": { - "session_id": "session_20260921_225524_803572", - "object": "taped round belt", - "motion": "right-handed lift completely off the table without letting pivot then place down", - "proposed_anchor_frames": "426-727", - "T": "302", - "per_camera_counts": "302/302/303/302", - "rectangular": "false", - "participating_hands": "hand_A", - "alternatives": "", - "masks": "not yet proposed", - "case_dir": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727", - "status": "window proposed; pending owner review", - "source_proposal": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_proposal_c1/proposal.json", - "current_proposal": { - "start_anchor_frame": 426, - "end_anchor_frame_inclusive": 727, - "start_ns": 1790045765954713038, - "end_ns": 1790045776056590698, - "rationale": "Hand_A fingertips reach and curl around one end of the loop (end nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop end from 412; 12933256 fingertips still visibly above the loop at 416-420, at loop level from ~422-426). 428 is inside the confirmed-contact region and was chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last frame before release." - }, - "amendment": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_proposal_c1/integrator_amendment.json", - "owner_accepted": false, - "products": [ - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "serials": [ - "12540311" - ], - "T": 302, - "use": "proposal only; own camera column only; C1a required" - }, - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/inspection/frames.npz", - "serials": [ - "12933256" - ], - "T": 302, - "use": "proposal only; own camera column only; C1a required" - }, - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection/frames.npz", - "serials": [ - "17736741" - ], - "T": 303, - "use": "proposal only; own camera column only; C1a required" - }, - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/inspection/frames.npz", - "serials": [ - "23007103" - ], - "T": 302, - "use": "proposal only; own camera column only; C1a required" - } - ] - }, - "cameras": [ - { - "serial": "12540311", - "view_index": 0, - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/12540311/inspection/frames.npz", - "source_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "source_mask_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311", - "source_rows": [ - 45, - 46, - 47, - 48, - 49, - 50, - 51, - 52, - 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"source_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/inspection/frames.npz", - "source_mask_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256", - "source_rows": [ - 45, - 46, - 47, - 48, - 49, - 50, - 51, - 52, - 53, - 54, - 55, - 56, - 57, - 58, - 59, - 60, - 61, - 62, - 63, - 64, - 65, - 66, - 67, - 68, - 69, - 70, - 71, - 72, - 73, - 74, - 75, - 76, - 77, - 78, - 79, - 80, - 81, - 82, - 83, - 84, - 85, - 86, - 87, - 88, - 89, - 90, - 91, - 92, - 93, - 94, - 95, - 96, - 97, - 98, - 99, - 100, - 101, - 102, - 103, - 104, - 105, - 106, - 107, - 108, - 109, - 110, - 111, - 112, - 113, - 114, - 115, - 116, - 117, - 118, - 119, - 120, - 121, - 122, - 123, - 124, - 125, - 126, - 127, - 128, - 129, - 130, - 131, - 132, - 133, - 134, - 135, - 136, - 137, - 138, - 139, - 140, - 141, - 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"converted_first_last": [ - 470, - 707 - ], - "native_first_last": [ - 471, - 708 - ], - "capture_time_ns_first_last": [ - 1790045767443065165, - 1790045775405014498 - ], - "exact_own_capture_fields_verified": true - }, - { - "serial": "17736741", - "view_index": 2, - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/17736741/inspection/frames.npz", - "source_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection/frames.npz", - "source_mask_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741", - "source_rows": [ - 46, - 47, - 48, - 49, - 50, - 51, - 52, - 53, - 54, - 55, - 56, - 57, - 58, - 59, - 60, - 61, - 62, - 63, - 64, - 65, - 66, - 67, - 68, - 69, - 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. 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"decision": "accept", - "date": "2026-10-28T16:27:08Z", - "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "review_material": [ - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/12933256/inspection/frames.npz b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/12933256/inspection/frames.npz deleted file mode 100644 index a5203a4ac8d5b2fbd91f098ed3471cf6eaa6423c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/12933256/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:aa6dc50c944070a407b2925fe5d9ba85028e856f85424ee8a428b7f934fddec0 -size 63980 diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/12933256/review_signoff.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/12933256/review_signoff.json deleted file mode 100644 index d18414bc0cfb0406b3455e763b02eb58627101c5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/12933256/review_signoff.json +++ /dev/null @@ -1,2275 +0,0 @@ -{ - 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "review_material": [ - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/12933256/review_signoff_occluder.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/12933256/review_signoff_occluder.json deleted file mode 100644 index b6f2f56c5a87dfd3e5db203fff16c1182b69ef43..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/12933256/review_signoff_occluder.json +++ /dev/null @@ -1,783 +0,0 @@ -{ - 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "review_material": [ - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/17736741/inspection/frames.npz b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/17736741/inspection/frames.npz deleted file mode 100644 index 66f0691698c113bb5276795295a83a3c0bf2e26b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/17736741/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3719e2eedc8639f07cce55c4f41a29125e3b4e255b8f80353539155b1ea481a2 -size 63980 diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/17736741/review_signoff.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/17736741/review_signoff.json deleted file mode 100644 index 1973b2208afd84366b6b2679860184a69d97ed15..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/17736741/review_signoff.json +++ /dev/null @@ -1,2275 +0,0 @@ -{ - 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "review_material": [ - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/17736741/review_signoff_occluder.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/17736741/review_signoff_occluder.json deleted file mode 100644 index 1c7f1669260e99fb6cb41d21fa22787111a25192..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/17736741/review_signoff_occluder.json +++ /dev/null @@ -1,783 +0,0 @@ -{ - 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "review_material": [ - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/23007103/inspection/frames.npz b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/23007103/inspection/frames.npz deleted file mode 100644 index be3e62916c93b449944e00bb40751cbd3b4d7314..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/23007103/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:af3ddcfa17cbdb51739f3f5fa2cf7ab79454a438795cf026434b24c9fc74e2f4 -size 63980 diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/23007103/review_signoff.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/23007103/review_signoff.json deleted file mode 100644 index 701250b6ca6f64e6d8b93326aedea5cc17cf4c0a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/23007103/review_signoff.json +++ /dev/null @@ -1,2275 +0,0 @@ -{ - 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1, - 1 - ], - "runs": [ - { - "file": "masks/23007103/hand_B/run0001_t0000-0302.npz", - "sha256": "04631ace0f1bdb8ba7db356d27f7f965a91d3491f9a110cfa764e10efb09e594" - } - ], - "prompts": [ - { - "file": "annotations/prompts/23007103/hand_B/t0000_v01.json", - "sha256": "36279dd983211b764d1ca792cff694778c552dcea810f2a19f3cae4f366eb8a8" - } - ] - } - ], - "covered_frames": 238, - "visible_frames": 0 - } - ], - "reviewed_by": "owner", - "decision": "accept", - "date": "2026-10-28T16:27:16Z", - "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "review_material": [ - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/23007103/review_signoff_occluder.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/23007103/review_signoff_occluder.json deleted file mode 100644 index 17d23a41645853d52e31ba6764d601d0476d2262..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/cameras/23007103/review_signoff_occluder.json +++ /dev/null @@ -1,783 +0,0 @@ -{ - "kind": "real_rgbd_selected_mask_review_signoff_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "c2fbc51c0ecbc0f447cb50f304b4e1de11969b35895069bfe09b8e71e82b438f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 470, - 708 - ], - "anchor_time_ns_first_last": [ - 1790045767467792575, - 1790045775431463339 - ] - }, - "frames_npz_sha256": "af3ddcfa17cbdb51739f3f5fa2cf7ab79454a438795cf026434b24c9fc74e2f4", - "instances": [ - "occluder" - ], - "accepted": [ - { - "serial": "23007103", - "instance": "occluder", - "sources": [ - { - "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103", - "frames_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/inspection/frames.npz", - "frames_npz_sha256": "937421bf435a83f6991320857db3f832e154e29555ab2977321b3914bdb0c982", - 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. 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other nearest-associated columns are review metadata only", - "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" - }, - "owning_serial": "23007103" - } - } - ], - "non_own_columns": "review metadata only; tracking and lifting consume each owning view" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/per_camera_inputs.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/per_camera_inputs.json deleted file mode 100644 index 8463d72613a9e681d2ae20c17e671576eb9299d1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/native_inputs/per_camera_inputs.json +++ /dev/null @@ -1,33 +0,0 @@ -{ - "annotation_ns": [ - 1790045767459413991, - 1790045775420476731 - ], - "anchor_view": 0, - "cameras": [ - { - "view_index": 0, - "serial": "12540311", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/12540311/inspection/frames.npz", - "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/12540311" - }, - { - "view_index": 1, - "serial": "12933256", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/12933256/inspection/frames.npz", - "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/12933256" - }, - { - "view_index": 2, - "serial": "17736741", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/17736741/inspection/frames.npz", - "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/17736741" - }, - { - "view_index": 3, - "serial": "23007103", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/23007103/inspection/frames.npz", - "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/23007103" - } - ] -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_appearance_acceptance_c6a_v1.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_appearance_acceptance_c6a_v1.json deleted file mode 100644 index 53f15442e28bea1bde56084669a341f523e9cb25..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_appearance_acceptance_c6a_v1.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "appearance_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_train_v1", - "final_ply": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply", - "final_ply_sha256": "1b7bb91dcc3308db9969ff069b5766d2cdf77e42d7e92ecb79097dfd04662b05", - "prior_manifest_sha256": "25457ebe452ee5e930f7d87e6712075948de6f5f15ee95883c80c6efec4d6e74", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/APPEARANCE_REVIEW_c6a_v1.md", - "reference_opacity_filter": "strict opacity > 0.1", - "physical_fitting": "not authorized by this request", - "owner_text": "Accept 225524\u2019s appearance", - "recorded_utc": "2026-10-28T17:35:45.343762+00:00", - "scope": "Accept this trained static appearance artifact with the disclosed hidden-grasp gap and fuzzy fringe. No physical fitting is authorized." -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_appearance_review_request_c6a_v1.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_appearance_review_request_c6a_v1.json deleted file mode 100644 index a8b613abfe7b5bc9c2593ddb5d59445b43299622..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_appearance_review_request_c6a_v1.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "requested_utc": "2026-10-28T17:34:32.555058+00:00", - "appearance_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_train_v1", - "final_ply": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply", - "final_ply_sha256": "1b7bb91dcc3308db9969ff069b5766d2cdf77e42d7e92ecb79097dfd04662b05", - "prior_manifest_sha256": "25457ebe452ee5e930f7d87e6712075948de6f5f15ee95883c80c6efec4d6e74", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/APPEARANCE_REVIEW_c6a_v1.md", - "reference_opacity_filter": "strict opacity > 0.1", - "owner_decision": "pending", - "physical_fitting": "not authorized by this request" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_inspect.log b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_inspect.log deleted file mode 100644 index ab2c8cb4188a0df5eadd9674634fb693d3c3932d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_inspect.log +++ /dev/null @@ -1 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/per_camera_inputs.json and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/inspection.json diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_inspect_argv.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_inspect_argv.json deleted file mode 100644 index 912b991b0902afd5703d0bbc85b3e5b0a48522de..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_inspect_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_real_rgbd.py", - "inspect", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572", - "--window", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/phystwin_window.yaml", - "--per-camera", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs" -] diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_mask_acceptance_c6a_selected_20261028.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_mask_acceptance_c6a_selected_20261028.json deleted file mode 100644 index 7fdb207c4bc722f3e36d53bf495383b593196259..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_mask_acceptance_c6a_selected_20261028.json +++ /dev/null @@ -1,15 +0,0 @@ -{ - "owner_text": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "recorded_utc": "2026-10-28T16:08:00.248304+00:00", - "accepted_window_anchor_inclusive": [ - 471, - 708 - ], - "participating_hands": [ - "hand_A" - ], - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/C6A_REVIEW.md", - "review_media": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/review_tiled_c6a_20261028/media_index.json", - "selection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/mask_review_selection.json", - "scope": "Accept the reviewed object, hand_A, hand_B and whole-person occluder masks in all four cameras on the owner-selected window for reference input preparation. Prior, appearance and push fixed-attachment decisions remain separate." -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_prior_acceptance_c6a_v1.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_prior_acceptance_c6a_v1.json deleted file mode 100644 index 8cf9d2730d90e906358e80d2dfed1ae69b595dc2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_prior_acceptance_c6a_v1.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "owner_text": "Approve 225524\u2019s prior", - "recorded_utc": "2026-10-28T17:11:50.315260+00:00", - "scope": "Accept this reviewed orange-belt prior for mechanical input preparation and reference static appearance training. Trained appearance acceptance and physical fitting remain separate.", - "prior_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1", - "prior_manifest_sha256": "25457ebe452ee5e930f7d87e6712075948de6f5f15ee95883c80c6efec4d6e74", - "mesh_sha256": "edce3dabd50627a962989a17df90ce68c6b4616d1c0bf67b92c6c066ed9c6cc4", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_review_v1/PRIOR_REVIEW_c6a_v1.md" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_prior_review_request_c6a_v1.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_prior_review_request_c6a_v1.json deleted file mode 100644 index 1605e36a0378a01d8a7eb14017c3c8c15703923f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_prior_review_request_c6a_v1.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "requested_utc": "2026-10-28T17:08:08.980163+00:00", - "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1", - "manifest_sha256": "25457ebe452ee5e930f7d87e6712075948de6f5f15ee95883c80c6efec4d6e74", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_review_v1/PRIOR_REVIEW_c6a_v1.md", - "requested_scope": [ - "mechanical input preparation", - "reference static appearance training" - ], - "owner_decision": "pending", - "physical_fitting": "not authorized by this request" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_window.log b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_window.log deleted file mode 100644 index 32ce050f61301f1a77c15dc69d7ac33d5fcdf9b2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_window.log +++ /dev/null @@ -1,3 +0,0 @@ -Warnings: - - 17736741: end camera delta 16906279 ns exceeds half period 16720203 ns -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/phystwin_window.yaml diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_window_argv.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_window_argv.json deleted file mode 100644 index 9b8ff789120c0e2dfeb1ef5d6cf396f4d3a198be..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_window_argv.json +++ /dev/null @@ -1,22 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_annotate_converted_session_window.py", - "--session-path", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572", - "--anchor-serial", - "12540311", - "--start-timestamp-ns", - "1790045767459413991", - "--end-timestamp-ns", - "1790045775420476731", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "taped round belt", - "--controller-description", - "hand_A = person's right hand (bracelet); hand_B = person's left hand. Participating: hand_A", - "--notes", - "Owner selected anchor12540311 converted frames 471-708 inclusive on 2026-10-28. Masks remain unapproved.", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_window_decision.json b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_window_decision.json deleted file mode 100644 index 830a2e1cbca08dfc6bf445b7c5bb5ba97a10b562..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/owner_window_decision.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "owner_text": "I've now inspected the best windows for the remaining sessions, but haven't yet fully inspected all the masks. please use these windows: 225524: 471-708, 225744: 335-775, 230338: 305-744, 230446: 282-676, 230550: 293-547, 230830: 349-805, 230937: 362-817, 231046: 364-711, 232051: 260-385, 232242: 307-584, 232344: 308-680, 232447: 336-500, 232616: 311-690, 232717: 340-691, 232822: 331-765, 232950: 220-428, 233045: 256-546, 233144: 268-673, 233350: 359-730", - "anchor_serial": "12540311", - "anchor_converted_frames_inclusive": [ - 471, - 708 - ], - "mask_acceptance": "pending", - "previous_case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727" -} diff --git a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/phystwin_window.yaml b/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/phystwin_window.yaml deleted file mode 100644 index 5f863b2996822ec39aa4ab5793e4bc3139f4059c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/annotations/windows/window_anchor0471-0708/native/phystwin_window.yaml +++ /dev/null @@ -1,82 +0,0 @@ -schema_version: 1 -kind: phystwin_interaction_window -session: - path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572 - session_id: session_20260921_225524_803572 -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_225524_803572 - --sensor-types zed - timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the - current integer-nanosecond timestamp at the desired start/end moments. - notes: '' -timebase: - policy: native_anchor_overlap - sync_policy: AnchorStreamSyncPolicy - overlap: true - anchor_serial: '12540311' - anchor_stream_id: zed_12540311_left_rgb - timestamp_unit: ns - timestamp_reference: sync_time_ns - period_ns_estimate: 33440407 - fps_estimate: 29.903942 -manual_annotation: - start_global_timestamp_ns: 1790045767459413991 - end_global_timestamp_ns: 1790045775420476731 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: taped round belt - controller_description: 'hand_A = person''s right hand (bracelet); hand_B = person''s - left hand. Participating: hand_A' - annotator_notes: Owner selected anchor12540311 converted frames 471-708 inclusive - on 2026-10-28. Masks remain unapproved. -resolved_window: - start_sync_index: 470 - end_sync_index_exclusive: 708 - start_anchor_timestamp_ns: 1790045767459413991 - end_anchor_timestamp_ns: 1790045775420476731 - frame_count: 238 - duration_s: 7.961063 -per_camera_resolution: - '12540311': - start_source_frame_index: 471 - end_source_frame_index_exclusive: 709 - start_source_timestamp_ns: 1790045767459413991 - end_source_timestamp_ns: 1790045775420476731 - start_delta_ns: 0 - end_delta_ns: 0 - '12933256': - start_source_frame_index: 470 - end_source_frame_index_exclusive: 708 - start_source_timestamp_ns: 1790045767443065165 - end_source_timestamp_ns: 1790045775405014498 - start_delta_ns: -16348826 - end_delta_ns: -15462233 - '17736741': - start_source_frame_index: 471 - end_source_frame_index_exclusive: 709 - start_source_timestamp_ns: 1790045767475142058 - end_source_timestamp_ns: 1790045775437383010 - start_delta_ns: 15728067 - end_delta_ns: 16906279 - '23007103': - start_source_frame_index: 471 - end_source_frame_index_exclusive: 709 - start_source_timestamp_ns: 1790045767467792575 - end_source_timestamp_ns: 1790045775431463339 - start_delta_ns: 8378584 - end_delta_ns: 10986608 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 16906279 - warnings: - - '17736741: end camera delta 16906279 ns exceeds half period 16720203 ns' -created_by: manual -created_at: '2026-10-28T14:39:04+00:00' -updated_at: '2026-10-28T14:39:04+00:00' - diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/APPEARANCE_REVIEW_c6a_v1.md b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/APPEARANCE_REVIEW_c6a_v1.md deleted file mode 100644 index 59cf6a28307a14c62b640bec91d13186e9574663..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/APPEARANCE_REVIEW_c6a_v1.md +++ /dev/null @@ -1,31 +0,0 @@ -# 225524: static appearance review - -**Status: reference training and agent review complete; owner appearance accepted.** - -The owner accepted this exact artifact on 2026-10-28T17:35:45.343762+00:00. [Acceptance record](../owner_appearance_acceptance_c6a_v1.json). The disclosed limitations below remain. - -This appearance uses the accepted 471–708 masks and accepted initial orange prior. It is trained only on the four initial images (converted 471 / native 472), with the unchanged reference recipe: 10,000 loop iterations and 9,999 Gaussian optimizer updates. No physical fitting has run. - -## Review views - -[Rotation video](appearance_train_v1/review/novel_view.mp4) · [loss curves](appearance_train_v1/review/loss_curves.png) - -- [Camera 12540311: observed/rendered RGB, mask/alpha and depth](appearance_train_v1/review/iteration_10000/view_0_sheet.png) -- [Camera 12933256: observed/rendered RGB, mask/alpha and depth](appearance_train_v1/review/iteration_10000/view_1_sheet.png) -- [Camera 17736741: observed/rendered RGB, mask/alpha and depth](appearance_train_v1/review/iteration_10000/view_2_sheet.png) -- [Camera 23007103: observed/rendered RGB, mask/alpha and depth](appearance_train_v1/review/iteration_10000/view_3_sheet.png) - -The visible orange ring and purple tape align across the four views. **The hidden grasp region remains incomplete and fuzzy**, with an open gap and diffuse endpoint/fringe, particularly visible in cameras 12540311 and 17736741. The gap persists through the sampled rotation views. No overall collapse or broad detached cloud was observed in those samples. These are limitations of the saved trained appearance; the hidden region has not been filled or rerun with different settings. The raw residual panel compares against the full scene and is not the masked training objective. - -## Saved evidence - -- Initial hybrid seeds: 67,754. Final saved Gaussians: 71,803; reference export after strict opacity >0.1: 63,412. -- One isotropic scale column; final spherical-harmonic degree 3. -- Mean same-view source total: 0.005651114 initially → 0.000232879 at iteration 10000. This averages the source full-image losses on the four training views, with the final review using the reference opacity export filter. It is not held-out evidence or a physical-accuracy measurement. -- All arrays in the 12 saved view files at iterations 0/7000/10000 are finite; the initial and saved model PLY values are finite. All three scalar histories cover every step 1–10000 with finite values. -- Training and review stages returned zero. Their elapsed wall times were 401.96 s and 256.98 s respectively, including any shared-lane wait. -- [Summary](appearance_train_v1/review/summary.json), [agent findings and exact inspection coverage](appearance_train_v1/review/agent_findings.json), [run flags](appearance_train_v1/run_record.json). - -The four final sheets, loss curves and orbit frames 0, 25, 50, 75, 100, 125, 150 and 175 of 200 were visually inspected. The curves settle after transients near iterations 3000/6000/9000, consistent with the unchanged source opacity-reset schedule. Full video playback is provided for owner review; sampled inspection is not certification of every orbit frame. - -Appearance acceptance is separate from the accepted prior and does not authorize a physical fit. diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_check_v1.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_check_v1.log deleted file mode 100644 index 7935ebf33e94a8d060c32f530c78ba61b6b0bcc2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_check_v1.log +++ /dev/null @@ -1,57 +0,0 @@ -Found metadata.json file, assuming customized QQTT dataset! [28/10 13:19:05] -Init points from pcd... [28/10 13:19:05] -Init points from mesh... [28/10 13:19:05] -Loading Training Cameras [28/10 13:19:05] -Loading Test Cameras [28/10 13:19:05] -Number of points at initialisation : 67754 [28/10 13:19:05] -Sampling 100000 points from mesh [28/10 13:19:05] -{ - "cameras": [ - { - "id": 0, - "width": 1920, - "height": 1080, - "object_px": 7064, - "occlusion_px": 213588, - "valid_depth_px": 1945818, - "boundary_px": 3088, - "projection_max_error_px": 2.1989110429707068e-05 - }, - { - "id": 1, - "width": 1920, - "height": 1080, - "object_px": 7923, - "occlusion_px": 210431, - "valid_depth_px": 2026369, - "boundary_px": 3324, - "projection_max_error_px": 1.0366657296356013e-06 - }, - { - "id": 2, - "width": 1920, - "height": 1080, - "object_px": 8584, - "occlusion_px": 245818, - "valid_depth_px": 1993679, - "boundary_px": 3704, - "projection_max_error_px": 8.121184683059165e-06 - }, - { - "id": 3, - "width": 1920, - "height": 1080, - "object_px": 6150, - "occlusion_px": 258681, - "valid_depth_px": 1905725, - "boundary_px": 2931, - "projection_max_error_px": 1.958691659574268e-06 - } - ], - "hybrid": { - "vertex_color_branch": true, - "mesh": 51840, - "observed": 15914, - "total": 67754 - } -} [28/10 13:19:06] diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_check_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_check_v1_argv.json deleted file mode 100644 index 3b03ccbd944a3ccb7f308c9afdefbd19414c2cf8..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_check_v1_argv.json +++ /dev/null @@ -1,18 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/bin/python", - "scripts/real_rgbd_appearance_train.py", - "check", - "--prior", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1", - "--accepted-prior-manifest-sha256", - "25457ebe452ee5e930f7d87e6712075948de6f5f15ee95883c80c6efec4d6e74", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_check_v1" - ], - "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027", - "environment": { - "PYTHONDONTWRITEBYTECODE": "1", - "MPLBACKEND": "Agg" - } -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_check_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_check_v1_result.json deleted file mode 100644 index dfd52d295e71664be1fcb4522abe130c5695bccb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_check_v1_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 300.5616153640003 -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_review_v1.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_review_v1.log deleted file mode 100644 index 019fd5cfdd58ac8bd8c6c2f5f37a71b2807a04f6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_review_v1.log +++ /dev/null @@ -1,32 +0,0 @@ -/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/lib/python3.10/site-packages/torch/utils/cpp_extension.py:1965: UserWarning: TORCH_CUDA_ARCH_LIST is not set, all archs for visible cards are included for compilation. -If this is not desired, please set os.environ['TORCH_CUDA_ARCH_LIST']. - warnings.warn( -Found metadata.json file, assuming customized QQTT dataset! [28/10 13:29:53] -Init points from pcd... [28/10 13:29:53] -Init points from mesh... [28/10 13:29:53] -Loading Training Cameras [28/10 13:29:53] -Loading Test Cameras [28/10 13:29:54] -Number of points at initialisation : 67754 [28/10 13:29:54] -Sampling 100000 points from mesh [28/10 13:29:54] -Loading trained model at iteration 7000 [28/10 13:29:56] [28/10 13:29:56] -Found metadata.json file, assuming customized QQTT dataset! [28/10 13:29:56] [28/10 13:29:56] -Init points from pcd... [28/10 13:29:56] [28/10 13:29:56] -Init points from mesh... [28/10 13:29:56] [28/10 13:29:56] -Loading Training Cameras [28/10 13:29:56] [28/10 13:29:56] -Loading Test Cameras [28/10 13:29:56] [28/10 13:29:56] -Sampling 100000 points from mesh [28/10 13:29:56] [28/10 13:29:56] -Loading trained model at iteration 10000 [28/10 13:29:58] [28/10 13:29:58] [28/10 13:29:58] -Found metadata.json file, assuming customized QQTT dataset! [28/10 13:29:58] [28/10 13:29:58] [28/10 13:29:58] -Init points from pcd... [28/10 13:29:58] [28/10 13:29:58] [28/10 13:29:58] -Init points from mesh... [28/10 13:29:58] [28/10 13:29:58] [28/10 13:29:58] -Loading Training Cameras [28/10 13:29:58] [28/10 13:29:58] [28/10 13:29:58] -Loading Test Cameras [28/10 13:29:58] [28/10 13:29:58] [28/10 13:29:58] -Sampling 100000 points from mesh [28/10 13:29:58] [28/10 13:29:58] [28/10 13:29:58] -{ - "snapshots": [ - "0", - "7000", - "10000" - ], - "review": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_train_v1/review" -} [28/10 13:30:04] [28/10 13:30:04] [28/10 13:30:04] diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_review_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_review_v1_argv.json deleted file mode 100644 index b25304174a14bfcee8b8b7d06d17347d075e39d4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_review_v1_argv.json +++ /dev/null @@ -1,13 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/bin/python", - "scripts/real_rgbd_appearance_review.py", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_train_v1" - ], - "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027", - "environment": { - "PYTHONDONTWRITEBYTECODE": "1", - "MPLBACKEND": "Agg" - } -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_review_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_review_v1_result.json deleted file mode 100644 index 1f6167ced73500f8924ee641324632a2708ea180..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_review_v1_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 256.9756683410087 -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1.log deleted file mode 100644 index dda8e154b9ae95c5e2d49517e384a120c1e8a6e9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1.log +++ /dev/null @@ -1,19 +0,0 @@ -Optimizing /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_train_v1/model -Output folder: /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_train_v1/model [28/10 13:23:46] -Found metadata.json file, assuming customized QQTT dataset! [28/10 13:23:46] -Init points from pcd... [28/10 13:23:46] -Init points from mesh... [28/10 13:23:46] -Loading Training Cameras [28/10 13:23:46] -Loading Test Cameras [28/10 13:23:46] -Number of points at initialisation : 67754 [28/10 13:23:46] -Sampling 100000 points from mesh [28/10 13:23:46] - Training progress: 0%| | 0/10000 [00:00 torch.Tensor: - """U depth_loss with Q5/S-H2's raw-depth and inside-object boundary indicator.""" - assert (gt < 0.0).sum() == 0, "Depth map should be non-negative" - valid = (gt > 0.0) & (gt < 8.191) - if alpha_mask is not None: - object_mask = alpha_mask.squeeze() > 0.5 - # cv2.erode(O, 5x5) parity: zero outside the image for the inverse mask. - inverse = (~object_mask).float()[None, None] - eroded = F.max_pool2d(inverse, kernel_size=5, stride=1, padding=2)[0, 0] == 0 - boundary = object_mask & ~eroded - valid = valid & ~boundary - gt = gt * object_mask.float() - return (torch.abs(network_output - gt) * valid).mean() diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/override_loader.py b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/override_loader.py deleted file mode 100644 index 1b26bcdfe63b13384c036ae3746c3f19baa500c9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/override_loader.py +++ /dev/null @@ -1,223 +0,0 @@ -def readQQTTSceneInfo( - path, - images, - depths, - eval, - train_test_exp, - use_masks=False, - gs_init_opt="pcd", - pts_per_triangles=30, - use_high_res=False, -): - # currently ignore parameter such as: images, depths, eval, train_test_exp - - # read metadata - camera_info_path = os.path.join(path, "camera_meta.pkl") - with open(camera_info_path, "rb") as f: - camera_info = pickle.load(f) - - # read cameras - intrinsics = [np.array(intr) for intr in camera_info["intrinsics"]] - c2ws = camera_info["c2ws"] - num_cam = len(intrinsics) - assert num_cam == len(c2ws), "Number of cameras and camera poses mismatched" - - H, W = int(camera_info["height"]), int(camera_info["width"]) # RP3 native size - - if use_high_res: - upsample = 4 - H = int(H * upsample) - W = int(W * upsample) - for intr in intrinsics: - intr[0, 0] *= upsample - intr[1, 1] *= upsample - intr[0, 2] *= upsample - intr[1, 2] *= upsample - - # get camera infos - cam_infos_unsorted = [] - for cam_i in range(num_cam): - c2w = c2ws[cam_i] - K = intrinsics[cam_i] - - # get the world-to-camera transform and set R, T - w2c = np.linalg.inv(c2w) - R = np.transpose(w2c[:3, :3]) - T = w2c[:3, 3] - - image_path = ( - os.path.join(path, str(cam_i) + ".png") - if not use_high_res - else os.path.join(path, str(cam_i) + "_high.png") - ) - image_name = f"cam{cam_i}" - image = Image.open(image_path) if os.path.exists(image_path) else None - - # use additional masks - if use_masks and image is not None: - mask_path = ( - os.path.join(path, "mask_" + str(cam_i) + ".png") - if not use_high_res - else os.path.join(path, "mask_" + str(cam_i) + "_high.png") - ) - mask = np.array(Image.open(mask_path)) - if len(mask.shape) == 3: - mask = mask[:, :, -1] # take the alpha channel - image_rgba = np.concatenate([np.array(image), mask[:, :, None]], axis=-1) - image = Image.fromarray(image_rgba) - - # this is dummy term for center principal point assumption (not used) - focal_length_x = K[0, 0] - focal_length_y = K[1, 1] - FovY = focal2fov(focal_length_y, H) - FovX = focal2fov(focal_length_x, W) - - # load depth - depth_path = os.path.join(path, str(cam_i) + "_depth.npy") - depth = ( - np.load(depth_path) / 1000.0 if os.path.exists(depth_path) else None - ) # in mm, convert to m - - # load normal - normal_path = os.path.join(path, str(cam_i) + "_normal_metric3d.png") - normal = ( - np.array(Image.open(normal_path)) if os.path.exists(normal_path) else None - ) - - # load occ mask - occ_mask_path = ( - os.path.join(path, "mask_human_" + str(cam_i) + ".png") - if not use_high_res - else os.path.join(path, "mask_human_" + str(cam_i) + "_high.png") - ) - occ_mask = ( - np.array(Image.open(occ_mask_path)) - if os.path.exists(occ_mask_path) - else None - ) - if occ_mask is not None: - if len(occ_mask.shape) == 3: - occ_mask = occ_mask[:, :, -1] # take the alpha channel - occ_mask = occ_mask.astype(np.float32) / 255.0 - kernel_size = 8 - occ_mask = cv2.dilate( - occ_mask, np.ones((kernel_size, kernel_size), np.uint8), iterations=1 - ) # dilate to avoid boundary artifacts - - if normal is not None: - normal = normal.astype(np.float32) / 255.0 # normalize to [0, 1] - normal = (normal - 0.5) * 2 # normalize to [-1, 1] - W2C = getWorld2View2(R, T) - C2W = np.linalg.inv(W2C) - normal = normal @ C2W[:3, :3].T # transform normal to world space - - cam_infos_unsorted.append( - CameraInfo( - uid=cam_i, - R=R, - T=T, - FovY=FovY, - FovX=FovX, - image_path=image_path, - image_name=image_name, - width=W, - height=H, - depth_path="", - depth_params=None, - is_test=False, - K=K, - image=image, - normal=normal, - depth=depth, - occ_mask=occ_mask, - ) - ) - - test_cam_infos = [] - test_c2ws = pickle.load(open(os.path.join(path, "interp_poses.pkl"), "rb")) - for cam_i, c2w in enumerate(test_c2ws): - dummy_cam_id = 1 - K = intrinsics[dummy_cam_id] - w2c = np.linalg.inv(c2w) - R = np.transpose( - w2c[:3, :3] - ) # R is stored transposed due to 'glm' in CUDA code - T = w2c[:3, 3] - image_path = os.path.join(path, "color", str(dummy_cam_id), "0.png") - image_name = f"test_cam{cam_i}_0" - focal_length_x = K[0, 0] - focal_length_y = K[1, 1] - FovY = focal2fov(focal_length_y, H) - FovX = focal2fov(focal_length_x, W) - test_cam_infos.append( - CameraInfo( - uid=cam_i, - R=R, - T=T, - FovY=FovY, - FovX=FovX, - image_path=image_path, - image_name=image_name, - width=W, - height=H, - depth_path="", - depth_params=None, - is_test=True, - K=K, - image=None, - normal=None, - depth=None, - ) - ) - - cam_infos = sorted(cam_infos_unsorted.copy(), key=lambda x: x.image_name) - train_cam_infos = [c for c in cam_infos if train_test_exp or not c.is_test] - test_cam_infos = [c for c in test_cam_infos if c.is_test] - - nerf_normalization = getNerfppNorm(train_cam_infos) - - # read point cloud ('pcd', 'mesh', 'hybrid') - all_xyz, all_rgb, all_normals = [], [], [] - if gs_init_opt in ["pcd", "hybrid"]: - print("Init points from pcd...") - pcd_path = os.path.join(path, "observation.ply") - if os.path.exists(pcd_path): - pcd = o3d.io.read_point_cloud(pcd_path) - xyz = np.asarray(pcd.points) - rgb = np.asarray(pcd.colors) - all_xyz.append(xyz) - all_rgb.append(rgb) - all_normals.append(np.zeros((xyz.shape[0], 3))) - - if gs_init_opt in ["mesh", "hybrid"]: - print("Init points from mesh...") - mesh_path = os.path.join(path, "shape_prior.glb") - if os.path.exists(mesh_path): - xyz, rgb, normals = sample_pcd_from_mesh( - mesh_path, POINT_PER_TRIANGLE=pts_per_triangles - ) - all_xyz.append(xyz) - all_rgb.append(rgb) - all_normals.append(normals) - - assert len(all_xyz) > 0, "No point cloud or mesh found for initialization" - - all_xyz = np.concatenate(all_xyz, axis=0) - all_rgb = np.concatenate(all_rgb, axis=0) - all_normals = np.concatenate(all_normals, axis=0) - - pcd = BasicPointCloud(points=all_xyz, colors=all_rgb, normals=all_normals) - - ply_path = os.path.join(path, "points3D.ply") # mimic other two dataloaders - storePly(ply_path, all_xyz, all_rgb, all_normals) - - # return scene info - scene_info = SceneInfo( - point_cloud=pcd, - train_cameras=train_cam_infos, - test_cameras=test_cam_infos, - nerf_normalization=nerf_normalization, - ply_path=ply_path, - is_nerf_synthetic=False, - ) - return scene_info diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply deleted file mode 100644 index 4d3e340ba27ede70b6dc6ba5bdf33f2f47db2d69..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1b7bb91dcc3308db9969ff069b5766d2cdf77e42d7e92ecb79097dfd04662b05 -size 17234204 diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/point_cloud/iteration_7000/point_cloud.ply b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/point_cloud/iteration_7000/point_cloud.ply deleted file mode 100644 index ba9c5c2c38c6916b3cedd79ca53194542c98dfb1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/point_cloud/iteration_7000/point_cloud.ply +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:155a26e7728d23f0ca5133ef2831b91e387e701995023ad29fa40510859552c3 -size 17177084 diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/review/agent_findings.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/review/agent_findings.json deleted file mode 100644 index 791ddf68d2aac5b79fe4e5950c5bd81621853499..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/review/agent_findings.json +++ /dev/null @@ -1,83 +0,0 @@ -{ - "status": "trained and agent-reviewed; owner appearance acceptance pending", - "training_iterations": 10000, - "gaussian_optimizer_update_calls": 9999, - "initial_gaussians": 67754, - "saved_gaussians": 71803, - "export_gaussians_strict_opacity_gt_0_1": 63412, - "final_isotropic_log_scale_columns": 1, - "final_active_sh_degree": 3, - "finite_saved_view_arrays": [ - "iteration_0/view_0.npz", - "iteration_0/view_1.npz", - "iteration_0/view_2.npz", - "iteration_0/view_3.npz", - "iteration_7000/view_0.npz", - "iteration_7000/view_1.npz", - "iteration_7000/view_2.npz", - "iteration_7000/view_3.npz", - "iteration_10000/view_0.npz", - "iteration_10000/view_1.npz", - "iteration_10000/view_2.npz", - "iteration_10000/view_3.npz" - ], - "finite_ply_snapshots": [ - "model/input.ply", - "model/point_cloud/iteration_7000/point_cloud.ply", - "model/point_cloud/iteration_10000/point_cloud.ply" - ], - "scalar_steps_verified": [ - 1, - 10000 - ], - "scalar_steps_contiguous": true, - "finite_scalar_tags": [ - "train_loss_patches/l1_loss", - "train_loss_patches/total_loss", - "iter_time" - ], - "mean_training_view_source_total_initial": 0.0056511144548456824, - "mean_training_view_source_total_final": 0.00023287862050639881, - "source_metric_scope": "same four initial training views, source full-image averaging; final review uses strict opacity >0.1 export filter; not held-out evidence", - "training_stage_elapsed_s_including_lane_wait": 401.96282233700913, - "review_stage_elapsed_s_including_lane_wait": 256.9756683410087, - "visually_inspected": [ - "iteration_10000/view_0_sheet.png", - "iteration_10000/view_1_sheet.png", - "iteration_10000/view_2_sheet.png", - "iteration_10000/view_3_sheet.png", - "loss_curves.png", - "novel_frames/frame_000.jpg", - "novel_frames/frame_025.jpg", - "novel_frames/frame_050.jpg", - "novel_frames/frame_075.jpg", - "novel_frames/frame_100.jpg", - "novel_frames/frame_125.jpg", - "novel_frames/frame_150.jpg", - "novel_frames/frame_175.jpg" - ], - "orbit_frames_inspected": [ - 0, - 25, - 50, - 75, - 100, - 125, - 150, - 175 - ], - "orbit_frame_count": 200, - "observations": [ - "Visible orange ring and purple tape align with the four initial observations.", - "The occluded grasp region remains open and locally diffuse; the fuzzy endpoint/fringe is most prominent in views0 and2 and remains visible in sampled novel views.", - "No overall collapse or broad detached cloud was observed in the eight sampled orbit views.", - "Loss curves settle after sharp transients near steps3000/6000/9000, consistent with the unchanged source opacity-reset interval." - ], - "limitations": [ - "Only the four initial images were trained; this does not establish held-out or dynamic rendering quality.", - "The hidden grasp region remains weakly constrained; low same-view losses do not establish complete occluded geometry or physical accuracy.", - "Black backgrounds are object-only diagnostic renders. The raw RGB residual compares to the full scene and is not the masked training objective.", - "Eight sampled orbit frames were inspected; every orbit frame was not individually inspected.", - "Appearance acceptance is pending and remains separate from physical fitting." - ] -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/review/curves.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/review/curves.json deleted file mode 100644 index 3e322feb1666f8a320867881f78022235e316c56..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/review/curves.json +++ /dev/null @@ -1,120008 +0,0 @@ -{ - "train_loss_patches/l1_loss": [ - [ - 1, - 0.0009616424795240164 - ], - [ - 2, - 0.0012668230338022113 - ], - [ - 3, - 0.0008768283878453076 - ], - [ - 4, - 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0.00039612167804881386, - "rgb_loss": 6.675356416963041e-05, - "seg_loss": 0.00011795286263804883, - "total": 0.00018510254848572806 - } - }, - "novel_frames": 200 - } - } -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/run_record.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/run_record.json deleted file mode 100644 index 8ff28cf5af0748c975cfc180bf07ce03d11eb983..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/run_record.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "kind": "rp3_static_appearance_v1", - "mode": "train", - "prior": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1", - "prior_manifest_sha256": 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"fused_ssim_probe": { - "module_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/lib/python3.10/site-packages/fused_ssim/__init__.py", - "identical_rgb_ssim": 1.0 - } -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1_argv.json deleted file mode 100644 index d5c25a96c842a7fba76ffef56cc5332eee820f87..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1_argv.json +++ /dev/null @@ -1,18 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/bin/python", - "scripts/real_rgbd_appearance_train.py", - "train", - "--prior", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1", - "--accepted-prior-manifest-sha256", - "25457ebe452ee5e930f7d87e6712075948de6f5f15ee95883c80c6efec4d6e74", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/appearance_train_v1" - ], - "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027", - "environment": { - "PYTHONDONTWRITEBYTECODE": "1", - "MPLBACKEND": "Agg" - } -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1_result.json deleted file mode 100644 index ab193fe9c12a968dbd511815a088b1e7d6f9f1af..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 401.96282233700913 -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_colors.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_colors.log deleted file mode 100644 index 3fd10f756abc47e47f6087aa716a1d6aba3bfe3b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_colors.log +++ /dev/null @@ -1 +0,0 @@ -colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1/steps/colors.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_colors_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_colors_argv.json deleted file mode 100644 index fd75bf837c7e41eb81c8716a10d39c2fb0f6c1b8..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_colors_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "colors", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T16:56:16.684898+00:00" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_colors_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_colors_result.json deleted file mode 100644 index 5b1add59ebdef77d21c599a88ddec7632fe1532b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_colors_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 2.6135289669036865, - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_complete.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_complete.json deleted file mode 100644 index cd30f2613398ea27472369ff9db7dcb60fb7eb9f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_complete.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5", - "phase": "prior", - "completed_utc": "2026-10-28T16:56:37.914268+00:00" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_diagnose_depth.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_diagnose_depth.log deleted file mode 100644 index f46f720c5b685eb165fb1a68920602bf89d9403f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_diagnose_depth.log +++ /dev/null @@ -1 +0,0 @@ -diagnose-depth: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1/steps/diagnose-depth.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_diagnose_depth_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_diagnose_depth_argv.json deleted file mode 100644 index b04e34b0b2f962ad7c6afa5de96b51b82a7de8c1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_diagnose_depth_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "diagnose-depth", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T16:55:44.550828+00:00" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_diagnose_depth_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_diagnose_depth_result.json deleted file mode 100644 index 218747ad45219e2e730ff5907651b0e2a72cbc2b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_diagnose_depth_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 1.5357208251953125, - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_fit.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_fit.log deleted file mode 100644 index 3f6a0c94add68a60d3a3a45c9bca797f0bcadb7a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_fit.log +++ /dev/null @@ -1,43 +0,0 @@ -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1/steps/fit.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_fit_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_fit_argv.json deleted file mode 100644 index 37ee1fa8d466ddff3b384ab217b898e2dd08c378..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_fit_argv.json +++ /dev/null @@ -1,22 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "fit", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1", - "--outlier-filter", - "statistical:20:2.0", - "--max-rounds", - "400", - "--reprojection-weight", - "4" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T16:55:46.089082+00:00" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_fit_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_fit_result.json deleted file mode 100644 index 63308b1ab0939b0443ae70e6795e5fe501f25559..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_fit_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 25.615198373794556, - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_hybrid.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_hybrid.log deleted file mode 100644 index d2ba1938756a0ae03f236c2ae6e2b9fc42999979..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_hybrid.log +++ /dev/null @@ -1 +0,0 @@ -hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1/steps/hybrid.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_hybrid_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_hybrid_argv.json deleted file mode 100644 index c3aaf282ecfb29b648c7a1d7ba4daabebd6f9447..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_hybrid_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "hybrid", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T16:56:19.301795+00:00" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_hybrid_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_hybrid_result.json deleted file mode 100644 index 3b935d598c55ad8946b1de23ec4bea8977cd66e1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_hybrid_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 2.270122766494751, - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_inputs.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_inputs.log deleted file mode 100644 index c2ed4242ba5ef2d598d5fc34007daa1d609d1c7b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_inputs.log +++ /dev/null @@ -1 +0,0 @@ -inputs: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1/steps/inputs.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_inputs_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_inputs_argv.json deleted file mode 100644 index 55ed863a5e06b659dc130ea1b89619556594abce..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_inputs_argv.json +++ /dev/null @@ -1,29 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "inputs", - "--result-root", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708", - "--object", - "orange_round_belt", - "--unfitted-inputs", - "--fitting-bundle", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/rt3_lifts/fitting/fitting_observations.npz", - "--frames-bundle", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", - "--depth-source", - "waft_stereo_dav2l5", - "--mask-erosion-px", - "2", - "--out", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T16:55:03.934485+00:00" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_inputs_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_inputs_result.json deleted file mode 100644 index 0ab3482de1cd46f375839e304aed58c4233edb47..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_inputs_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 40.55024266242981, - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_manifest.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_manifest.log deleted file mode 100644 index 96fb54ebad3658953d02c39c021aea4b01196721..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_manifest.log +++ /dev/null @@ -1 +0,0 @@ -/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1/manifest.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_manifest_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_manifest_argv.json deleted file mode 100644 index 9fc4fc61bc897e3c0d3552f501a5f237640a0aa1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_manifest_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "manifest", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T16:56:36.488985+00:00" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_manifest_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_manifest_result.json deleted file mode 100644 index 5b337977f4346692b8807c1b82b4ed1e2f7b3e7c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_manifest_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 1.4228096008300781, - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_review.log b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_review.log deleted file mode 100644 index b2dbb39aaaaa366661097bd858fea4c1fe429b9a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_review.log +++ /dev/null @@ -1 +0,0 @@ -review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1/steps/review.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_review_argv.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_review_argv.json deleted file mode 100644 index c2971abdd8f4242d8155ad56e2614899de243148..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_review_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "review", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T16:56:21.579963+00:00" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_review_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_review_result.json deleted file mode 100644 index c9eb1e18fc352494e98045205fa0c485688f7c14..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/batch_prior_review_result.json +++ /dev/null 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"--mesh-rules", - "m2_10mm_centerline_voxels_v3", - "--retained-samples-binding", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/mechanics_v2/mesh/binding.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/mechanics_v3" - ], - "environment": { - "CUDA_VISIBLE_DEVICES": "" - }, - "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json deleted file mode 100644 index 5049e0973afb8cdd46f14876ce9dd2509a30c5e2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 400.723679688992 -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md deleted file mode 100644 index dbf00d44e57657bc54732554f2ae9f6124cb730a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md +++ /dev/null @@ -1,49 +0,0 @@ -**Owner accepted this exact prior on 2026-10-28T17:11:50.315260+00:00 for mechanical input preparation and reference static appearance training.** [Acceptance record](../../owner_prior_acceptance_c6a_v1.json). The agent findings below retain the conditions observed before approval. - -# session_20260921_225524_803572 — prior accepted - -Saved C2 **orange_round_belt** prior evidence (radius 2.95 mm). Bounded agent visual review is complete; **owner prior approval is recorded above**. The inspected projections show a coherent oval without a gross contour or topology defect. Vertical placement, depth uncertainty and hidden geometry remain limitations; the approval scope is recorded above. - -Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](). - -| Camera | Local / converted / native | Centerline / geometry / native input | -|---|---|---| -| 12540311 | 0 / 471 / 472 | [centerline](<../prior_orange_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_0_12540311.png>) | -| 12933256 | 1 / 471 / 472 | [centerline](<../prior_orange_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_1_12933256.png>) | -| 17736741 | 0 / 471 / 472 | [centerline](<../prior_orange_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_2_17736741.png>) | -| 23007103 | 0 / 471 / 472 | [centerline](<../prior_orange_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_3_23007103.png>) | - -[Full rotation video](<../prior_orange_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_orange_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_orange_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_orange_v1/review/inputs/depth_offset.png>) - -Saved fit: **1 stage-1 round**, stop `gradient_tolerance`; final length **639.997 mm**, maximum curvature **18.943/m**, final gradient norm **6.95463e-05**. Soft length bounds are 635.000–660.000 mm; distance outside those bounds is 0.000 mm. - -Saved geometry checks report `passed=True`: **864 mesh vertices / 1728 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_orange_v1/tube/tube_checks.json>). - -The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. - -| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | -|---|---|---|---| -| 12540311 | 6.688 / 10.564 | 99.67% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) | -| 12933256 | 5.545 / 7.353 | 99.71% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) | -| 17736741 | 5.517 / 7.361 | 99.69% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) | -| 23007103 | 7.403 / 10.323 | 99.43% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) | - -The saved statistical filter used 20 neighbours / 2 sigma and kept **15914 of 16674** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. - -Appearance initialization contains **15914 observed + 51840 mesh-derived = 67754 seeds**. Vertex colors are observed for 610 mesh vertices and median-filled for 254. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages. - -[Appearance seed populations](<../prior_orange_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_orange_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>) - -[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>) - -[Manifest](<../prior_orange_v1/manifest.json>) · [Fit settings and metrics](<../prior_orange_v1/steps/fit.json>) · [Reference observations](<../prior_orange_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) - -[Agent findings and exact review coverage]() record inspection of all four initial native RGB/mask/occluder/invalid-depth panels, all four centerline overlays, four tube-with-mask plus four unmasked tube overlays, the five spatial/residual/depth/color/hybrid plots linked above, and orbit frames **0, 4, 8, 12, 16, 20, 24, 28, 32** of 36. The orbit displays sampled tube rings/vertices; continuous surface topology is supported by the saved numerical checks, not inferred from that visualization. The prior payload was read only. - -The visible tube and centerline follow the orange loop closely in all four cameras, with small contour-edge offsets and no apparent crossing, detached component or abrupt kink. The hand-covered arc and underside remain inferred. A projected tube drawn across the hand is not an observation of the hidden belt. - -The spatial and hybrid views show the depth cloud spreading above and laterally around the tube, with a small high-z outlier cluster. Views 0 and 3 have wider residual tails; view 2 contains sparse approximately **25 mm** point-to-centerline outliers. The depth diagnostic reports belt-interior-minus-local-table medians of **9.311, 5.998, 8.901 and 6.599 mm** in camera-table order, with `correction_applied=false`. Minimum mesh z is **−0.716 mm** relative to the nominal z=0 table plane. These observations leave vertical placement and table contact uncertain; they do not justify treating the residuals as ground-truth reconstruction errors or changing the approved radius/depth recipe. - -The fit stopped at its configured gradient tolerance after one round. Maximum curvature is **18.943/m**, with **33.2%** of samples above the configured **10/m soft curvature regularization threshold**; this is not a failed hard geometry check or proof of global optimality. Filled colors, especially on the underside and near the grasp end, remain appearance initialization assumptions. The stated mesh/seed counts do not establish a mechanical population or mass total. - -No blocking gross projection/topology defect was identified in this bounded review; the owner subsequently accepted this exact prior with the recorded limitations. Mechanical input preparation and reference static appearance training are authorized; trained-appearance acceptance and physical fitting remain separate. diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json deleted file mode 100644 index 9a49d7f72d7e7a0321cfa1869badec5d0f6b51f7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json +++ /dev/null @@ -1,183 +0,0 @@ -{ - "case": "session_20260921_225524_803572/window_anchor0471-0708", - "reviewed_at_utc": "2026-10-28T17:05:36.237900+00:00", - "review_kind": "bounded agent review of the completed C2 orange-round-belt prior", - "readiness": "ready_for_owner_prior_review_with_recorded_depth_and_table_plane_limitations", - "blocking_findings": [], - "owner_prior_approval": "pending; this record does not grant owner acceptance or authorize downstream stages", - "scope": { - "goal": "Assess saved initial prior geometry and appearance initialization against the native observations.", - "done_when": "Four input panels, four centerline overlays, eight tube overlays, five spatial/diagnostic plots and at least eight orbit samples have been inspected and limitations recorded.", - "non_goals": [ - "No prior, tracking, lifting or settings changes or reruns", - "No mechanics, static appearance training or physical fitting", - "No acceptance or case-status changes" - ], - "validation": "21 saved images and 9 evenly spaced frames from the 36-frame orbit; saved metrics, fit settings, geometry checks and depth/color reports. The prior payload was read only." - }, - "image_path_base": "../prior_orange_v1/review", - "inspected_images": [ - "inputs/view_0_12540311.png", - "inputs/view_1_12933256.png", - "inputs/view_2_17736741.png", - "inputs/view_3_23007103.png", - "spline/centerline_0_with_masks.png", - "spline/centerline_1_with_masks.png", - "spline/centerline_2_with_masks.png", - "spline/centerline_3_with_masks.png", - "tube/silhouette_0_with_masks.png", - "tube/silhouette_1_with_masks.png", - "tube/silhouette_2_with_masks.png", - "tube/silhouette_3_with_masks.png", - "tube/silhouette_0_unmasked.png", - "tube/silhouette_1_unmasked.png", - "tube/silhouette_2_unmasked.png", - "tube/silhouette_3_unmasked.png", - "tube/tube_scale_views.png", - "inputs/depth_offset.png", - "spline/residual_histograms.png", - "colors/visibility_and_fill.png", - "hybrid/combined.png" - ], - "inspected_videos": { - "../prior_orange_v1/review/tube/orbit.mp4": { - "frame_count": 36, - "fps": 12, - "duration_s": 3, - "visually_inspected_frame_indices": [ - 0, - 4, - 8, - 12, - 16, - 20, - 24, - 28, - 32 - ], - "visual_method": "Individual decoded frames at 0.333-second intervals; no continuous-playback claim. The video plots tube rings/vertices rather than a shaded continuous surface." - } - }, - "inspected_data": [ - "prior_metrics.json", - "../prior_orange_v1/steps/fit.json", - "../prior_orange_v1/spline/spline_fit.json", - "../prior_orange_v1/spline/witness.json", - "../prior_orange_v1/inputs/depth_offset_diagnostic.json", - "../prior_orange_v1/colors/color_summary.json" - ], - "saved_metrics": { - "radius_mm": 2.9499999999999997, - "reprojection_weight": 4.0, - "fit_rounds": 1, - "fit_stop": "gradient_tolerance", - "gradient_norm": 6.954627315280959e-05, - "length_mm": 639.9973034858704, - "soft_length_bounds_mm": [ - 634.9999904632568, - 660.0000262260437 - ], - "max_curvature_per_m": 18.94283676147461, - "curvature_regularization_threshold_per_m": 10, - "fraction_above_curvature_regularization_threshold": 0.332, - "tube_vertices": 864, - "tube_triangles": 1728, - "saved_geometry_checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 1.668577765314023e-05, - "minimum_outward_normal_dot_m": 0.00284038568307495, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 1.1946219302411826e-08, - "maximum_diameter_error_m": 2.3842763580313175e-08, - "bishop_seam_error": 5.960464477539063e-08, - "minimum_nonadjacent_centerline_distance_m": 0.0148878213815346, - "triangle_area_m2": { - "min": 5.410349843200876e-06, - "median": 6.817791793336936e-06, - "mean": 6.781015456708674e-06, - "max": 7.857142341751256e-06, - "density_max_over_min": 1.4522429361245903 - }, - "bounds_m": [ - [ - -0.08326451480388641, - -0.2748270630836487, - -0.0007162261754274368 - ], - [ - 0.10089493542909622, - -0.03850395977497101, - 0.007452409248799086 - ] - ], - "radius_m": 0.00295, - "step_t": 0.125, - "step_angle_deg": 30, - "passed": true, - "orientation_flipped": true - }, - "depth_belt_minus_local_table_mm_by_serial": { - "12540311": 9.31149451182084, - "12933256": 5.998030862187753, - "17736741": 8.901157196156307, - "23007103": 6.598895164736551 - }, - "depth_correction_applied": false, - "per_view": { - "12540311": { - "median_centerline_distance_mm": 6.688115186989307, - "p90_centerline_distance_mm": 10.563596803694965, - "visible_centerline_inside_mask_fraction": 0.9966777408637874 - }, - "12933256": { - "median_centerline_distance_mm": 5.544509273022413, - "p90_centerline_distance_mm": 7.35269533470273, - "visible_centerline_inside_mask_fraction": 0.9971181556195965 - }, - "17736741": { - "median_centerline_distance_mm": 5.51725085824728, - "p90_centerline_distance_mm": 7.361405994743109, - "visible_centerline_inside_mask_fraction": 0.9968652037617555 - }, - "23007103": { - "median_centerline_distance_mm": 7.402623537927866, - "p90_centerline_distance_mm": 10.323284938931465, - "visible_centerline_inside_mask_fraction": 0.9942528735632183 - } - }, - "appearance_seeds": { - "observed": 15914, - "mesh": 51840, - "total": 67754, - "mesh_to_observed": 3.2575091114741737 - }, - "vertex_colors": { - "observed_vertices": 610, - "filled_vertices": 254 - }, - "mechanical_population": { - "particle_count": null, - "total_unit_mass": null, - "status": "not produced by the prior run; no post-prior mechanics are evaluated here" - } - }, - "observations": [ - "The four native input panels show one orange oval loop with a local hand-occluded arc. Object masks follow the visible loop; 17736741 includes a small visible object-mask island near the hand. No conspicuous invalid-depth overlay patch was seen inside the visible belt at displayed resolution.", - "All four projected centerlines and tube silhouettes follow the visible orange contour closely. Small edge offsets remain, including an inward centerline placement along the front/lower arc in 12933256; no gross wrong-loop displacement, crossing, detached component or kink was seen.", - "The top spatial view and nine orbit samples show a coherent nearly planar oval with small height variation. Saved geometry checks report one watertight component, consistent winding, zero degenerate triangles and no self-intersection; these are saved numerical checks rather than conclusions from the ring-rendered orbit.", - "Depth-cloud and hybrid plots show observed points spread laterally and above the fitted tube, with a small high-z outlier cluster. Residual histograms have wider tails in views 0 and 3 and sparse approximately 25 mm centerline-distance outliers in view 2.", - "The color plot distinguishes 610 observed-color vertices from 254 median-filled vertices. Filled vertices occur predominantly on the lower surface and near the grasp-end region; appearance initialization has 15914 observed plus 51840 mesh-derived seeds, total 67754." - ], - "limitations": [ - "The hand-hidden arc and underside remain inferred geometry. Rendering the projected prior across the hand does not reveal the actual hidden shape; filled vertex colors are not observed texture.", - "Minimum tube z is -0.716226 mm relative to the nominal z=0 table plane. The read-only depth diagnostic gives belt-interior-minus-local-table medians of 9.311, 5.998, 8.901 and 6.599 mm by listed camera order. Depth spread and camera-dependent offsets leave vertical placement and table contact uncertain; no depth correction was applied.", - "The 5.517-7.403 mm per-view median 3D residuals are observed-point-to-centerline distances, including tube surface radius and measurement/model differences; they are not ground-truth reconstruction errors. The 99.43-99.71 percent centerline-in-mask fractions are not silhouette IoU.", - "One optimization round stopped at the configured gradient tolerance. Maximum curvature is 18.943/m and 33.2 percent of samples exceed the configured 10/m curvature regularization threshold. That threshold is part of the soft loss, not a hard geometry acceptance test, and this review does not establish global optimality.", - "The orbit is a sampled vertex/ring plot, not a continuous mesh-surface render. This review samples nine of its 36 frames and does not repeat the already completed temporal-reference review.", - "Mesh vertices and appearance seeds are separate populations from mechanical particles. This prior run supplies no post-prior mechanical particle count, unit-mass total, trained appearance or physical-fit result." - ] -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json b/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json deleted file mode 100644 index 7951eaab4f89396cdc6b442d4b177d23f3a85c37..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json +++ /dev/null @@ -1,491 +0,0 @@ -{ - "session_id": "session_20260921_225524_803572", - "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/prior_orange_v1", - "owner_prior_approval": "accepted", - "visual_quality_assessment": "not performed by this packager", - 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"signed_native_frames": null, - "signed_native_frames_sha256": null, - "views": [ - { - "crop_xyxy": [ - 605, - 409, - 1148, - 952 - ], - "frames": 238, - "queries": 5000, - "saved_query_product_sha256": "3fa8e1150493add723f43791f7af6bde4e0ae1f347bbe58f2001a2e0c3a13c5a", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/frames_waft/cameras/12540311/inspection/frames.npz", - "selected_frames_sha256": "7ad7d7977673950e08e57ae1cf012b79fe772bdd9d742500dcda56e4601d5c36", - "serial": "12540311", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/12540311/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12540311.npz" - }, - { - "crop_xyxy": [ - 625, - 157, - 1199, - 731 - ], - "frames": 238, - "queries": 5000, - "saved_query_product_sha256": "234dc5a704dad561f36eac344976856a15711fcc410b54861e8825993402177d", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/frames_waft/cameras/12933256/inspection/frames.npz", - "selected_frames_sha256": "a0a4d89dc778a5f56daa0343a382128445cb3157494c9f3b4747f0afe23d823c", - "serial": "12933256", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/12933256/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12933256.npz" - }, - { - "crop_xyxy": [ - 649, - 290, - 1280, - 921 - ], - "frames": 238, - "queries": 5000, - "saved_query_product_sha256": "56adf9dc48bec0be76aa6a214b63a4149f2cbb2b6debb9ce3093a1b66b1ba16a", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/frames_waft/cameras/17736741/inspection/frames.npz", - "selected_frames_sha256": "2a22c7fead6fbad43e06fb723833243eec49dd83534ca60d11521da2311d76b8", - "serial": "17736741", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/17736741/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_17736741.npz" - }, - { - "crop_xyxy": [ - 788, - 141, - 1344, - 697 - ], - "frames": 238, - "queries": 5000, - "saved_query_product_sha256": "823a9a1ea964c81369001867bfd2611052133b422b43d58fa03a345ddcc39e0a", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/frames_waft/cameras/23007103/inspection/frames.npz", - "selected_frames_sha256": "3cfad03c93677c848ba231fbdd9117661bb279418c63a84261892848d838e15f", - "serial": "23007103", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/native_inputs/cameras/23007103/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0471-0708/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_23007103.npz" - } - ] -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/C6A_REVIEW.md b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/C6A_REVIEW.md deleted file mode 100644 index 1e11ca5c3a7b055046f1d276f219618308ab8af5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/C6A_REVIEW.md +++ /dev/null @@ -1,43 +0,0 @@ -# session_20260921_225524_803572: C6a proposal review - -**Status: agent proposal; owner mask/window/contact decisions pending.** - -Object: taped round belt. Motion: right-handed lift completely off the table without letting pivot then place down. -Current packet anchor converted frames: **426–727 inclusive**. -Current packet endpoint sync timestamps: `1790045765954713038` / `1790045776056590698` ns. -Participating identities: `hand_A`; A is the right, bracelet-wearing hand, B the left. -Hands mean visible bare forearm through fingertips, excluding bracelet/sleeve. Occluder means the whole visible person, including clothing, accessories and nonparticipating hands. - -C1 evidence: `/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_proposal_c1/proposal.json`. -Current amendment: `/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_proposal_c1/integrator_amendment.json`. - -**Amendment clarification:** the actual selected start is 426. The original rationale’s statement that 428 passed the rectangular-count check is historical and does not select 428. Window sidecar notes retain that historical wording; its numeric endpoints and frame products use the current 426 amendment. - -**Unequal counts:** the four products below each consume only their named camera’s own column. Other nearest-camera columns in those NPZ files are not admitted source clocks. C1a is required before tracking/lifting/fitting-input consumers use this case. - -## Exact own-camera mapping - -| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns | -|---|---|---|---|---| -| 12540311 | 0–301 | 426–727 | 427–728 | 1790045765954713038 / 1790045776056590698 | -| 12933256 | 0–301 | 425–726 | 426–727 | 1790045765941847322 / 1790045776039530890 | -| 17736741 | 0–302 | 425–727 | 426–728 | 1790045765940627217 / 1790045776069408716 | -| 23007103 | 0–301 | 426–727 | 427–728 | 1790045765963424329 / 1790045776065248182 | - -## Review products - -The newest completed media for each view/role currently present are listed below. A correction directory may cover only its changed views/roles; its media_index.json lists the exact coverage. Earlier prompts, propagation runs and media remain on disk. A new correction can make an older media directory historical; use current supplier admission before signoff or downstream processing. - -- Views 12540311: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_accessory_sparse_v2_newseed/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_accessory_sparse_v2_newseed/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_accessory_sparse_v2_newseed/boundary_end.mp4). -- Views 12540311: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_v1/boundary_end.mp4). -- Views 12933256: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_accessory_sparse_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_accessory_sparse_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_accessory_sparse_v1/boundary_end.mp4). -- Views 12933256: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_v1/boundary_end.mp4). -- Views 17736741: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_accessory_sparse_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_accessory_sparse_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_accessory_sparse_v1/boundary_end.mp4). -- Views 17736741: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v3/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v3/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v3/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v3/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v3/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v3/boundary_end.mp4). -- Views 23007103: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v2/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v2/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v2/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v2/boundary_end.mp4). - -## Decisions and downstream boundary - -This card records the decisions above and grants no additional stage. Actual owner mask/window decisions must be recorded before final tracking. The three pushes also require an explicit decision about the fixed material-attachment approximation. After prompt corrections, perform fresh current-input admission; an old fitting identity alone does not detect every C1 F3 correction. - -C6a review findings and decisions are collected under `lab/c6a_20261027/`; source C1 records and protected A/B inputs remain unchanged. diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json deleted file mode 100644 index 6bd350c262f4296aae45f358cf15de82a5a34b51..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "42b90fa8116859ae476550c17104f7b9b735fdc415e2a78bb2a6ea6aadb7bfc8", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 425, - 727 - ], - "anchor_time_ns_first_last": [ - 1790045765954713038, - 1790045776056590698 - ] - }, - "serial": "12540311", - "view_index": 0, - "instance": "hand_A", - "frame": { - "t": 0, - "sync_index": 425, - "converted_frame_index": 426, - "official_frame_index": 426, - "native_container_frame_index": 427, - "view_time_ns": 1790045765954713038 - }, - "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": [ - [ - 720.0, - 795.0 - ], - [ - 841.0, - 857.0 - ], - [ - 905.0, - 864.0 - ], - [ - 779.0, - 812.0 - ], - [ - 646.0, - 792.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 663.0, - 752.0, - 933.0, - 930.0 - ], - "source": "agent:c6a_20261027", - "note": "C6a agent first proposal; native pixels. Whole-person occluder includes all visible human pixels; bare hand excludes bracelet. 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Explicit bracelet positive with sparse person/clothing support; same t0 and box. Whole person includes body, clothing and accessories. 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a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/annotations/prompts/12540311/occluder/t0301_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5fa91c89e24e084dd218ddb9d92fbd0f7a39e96a16510ec77b53dd475be712f7 -size 4653 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/inspect.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/inspect.log deleted file mode 100644 index e285be8830c72af6fb115ca033eb716c37fc2f7e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/inspect.log +++ /dev/null @@ -1 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/inspection.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/inspect_command.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/inspect_command.json deleted file mode 100644 index e4107dd7387d0be49d90cbbaf0df3e44518cdc18..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/inspect_command.json +++ /dev/null @@ -1,15 +0,0 @@ -[ - 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"2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5" - } - }, - "samples": [ - { - "t": 0, - "serial": "12540311", - "converted_frame_index": 426, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 4787 - }, - "depth_zero_fraction": 0.03697386188271605, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.289, - 1.298, - 4.787 - ] - }, - { - "t": 0, - "serial": "12933256", - "converted_frame_index": 425, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 7196 - }, - "depth_zero_fraction": 0.03298611111111111, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.5650000000000001, - 1.158, - 7.196 - ] - }, - { - "t": 0, - "serial": "17736741", - "converted_frame_index": 425, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 3758 - }, - "depth_zero_fraction": 0.014270351080246914, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.581, - 1.1460000000000001, - 3.758 - ] - }, - { - "t": 0, - "serial": "23007103", - "converted_frame_index": 426, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 4355 - }, - "depth_zero_fraction": 0.03919704861111111, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.48, - 1.053, - 4.355 - ] - } - ] -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0302.npz deleted file mode 100644 index d322e1c2b40c24799ac81176114b467480b9e421..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0302.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8c4d705a87af66ea92d92e2d2b9ceb65c81c86fe7b0b524875defb82673dd569 -size 341251 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0302.npz deleted file mode 100644 index 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a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/masks/12540311/occluder/run0003_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/masks/12540311/occluder/run0003_t0000-0302.npz deleted file mode 100644 index 61e6a541f39c0e513b140f04a2a05760d048f8a6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/masks/12540311/occluder/run0003_t0000-0302.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:216287cbbc25363971552e88206ff3691f4685f3a9874a7db147c2e71d4686dc -size 828479 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/phystwin_window.yaml b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/phystwin_window.yaml deleted file mode 100644 index 62b8b97a42638a496c61739f369b4a9d692561bb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/phystwin_window.yaml +++ /dev/null @@ -1,91 +0,0 @@ -schema_version: 1 -kind: phystwin_interaction_window -session: - path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572 - session_id: session_20260921_225524_803572 -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_225524_803572 - --sensor-types zed - timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the - current integer-nanosecond timestamp at the desired start/end moments. - notes: '' -timebase: - policy: native_anchor_overlap - sync_policy: AnchorStreamSyncPolicy - overlap: true - anchor_serial: '12540311' - anchor_stream_id: zed_12540311_left_rgb - timestamp_unit: ns - timestamp_reference: sync_time_ns - period_ns_estimate: 33440407 - fps_estimate: 29.903942 -manual_annotation: - start_global_timestamp_ns: 1790045765954713038 - end_global_timestamp_ns: 1790045776056590698 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: taped round belt - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Hand_A fingertips reach and curl around one end of the loop (end - nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop - end from 412; 12933256 fingertips still visibly above the loop at 416-420, at - loop level from ~422-426). 428 is inside the confirmed-contact region and was - chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) - while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), - off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; - at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop - end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last - frame before release. -resolved_window: - start_sync_index: 425 - end_sync_index_exclusive: 727 - start_anchor_timestamp_ns: 1790045765954713038 - end_anchor_timestamp_ns: 1790045776056590698 - frame_count: 302 - duration_s: 10.101878 -per_camera_resolution: - '12540311': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765954713038 - end_source_timestamp_ns: 1790045776056590698 - start_delta_ns: 0 - end_delta_ns: 0 - '12933256': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 727 - start_source_timestamp_ns: 1790045765941847322 - end_source_timestamp_ns: 1790045776039530890 - start_delta_ns: -12865716 - end_delta_ns: -17059808 - '17736741': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765940627217 - end_source_timestamp_ns: 1790045776069408716 - start_delta_ns: -14085821 - end_delta_ns: 12818018 - '23007103': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765963424329 - end_source_timestamp_ns: 1790045776065248182 - start_delta_ns: 8711291 - end_delta_ns: 8657484 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 17059808 - warnings: - - '12933256: end camera delta -17059808 ns exceeds half period 16720203 ns' -created_by: manual -created_at: '2026-10-27T19:17:48+00:00' -updated_at: '2026-10-27T19:17:48+00:00' - diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v1.log deleted file mode 100644 index 5ecf483b6982d0ce485fd26d68456a9bf3dccdac..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -12540311/occluder t=0: 184957 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/correction_preview_c6a_accessory_sparse_v1/12540311/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index ab7e6e6577ed157802e9aa3eca75d70dcf835d1c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/proposal_occluder_accessory_c6a_sparse_v1.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/correction_preview_c6a_accessory_sparse_v1", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index ac08f67c972820cc1130068742ed756afeade20a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 9.783851146697998, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v2.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v2.log deleted file mode 100644 index 7d9d36029d248640328673310df9dc27f073308e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v2.log +++ /dev/null @@ -1 +0,0 @@ -12540311/occluder t=301: 154930 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/correction_preview_c6a_accessory_sparse_v2/12540311/occluder_t0301.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v2_argv.json deleted file mode 100644 index ed19b1706cf640a72eac038b2d1e38db553e8e9d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v2_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/proposal_occluder_accessory_c6a_sparse_v2.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/correction_preview_c6a_accessory_sparse_v2", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v2_result.json deleted file mode 100644 index dbcd90ca86b98e97dfc4ad442027a1724898c0cb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/preview_c6a_accessory_sparse_v2_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 11.766446352005005, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1.log deleted file mode 100644 index 1f53877570c2b94a36d334cccf41a4caf1235444..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1,3 +0,0 @@ - propagate in video: 0%| | 0/302 [00:00 /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/correction_overlays_c6a_accessory_sparse_v1/12540311/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index 1cb8378a5864ac11f31e5942ab7e35503bf65ded..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/proposal_occluder_accessory_c6a_sparse_v1.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/correction_overlays_c6a_accessory_sparse_v1", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index 5030c08205427fb917e2eaae8d1e22dbe8820630..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 8.579689502716064, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2.log deleted file mode 100644 index 0e83c2baddc98805143d6334db909f49bc97e1ea..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2.log +++ /dev/null @@ -1,14 +0,0 @@ -Traceback (most recent call last): - File "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/phystwin_real_rgbd.py", line 1188, in - raise SystemExit(main()) - ^^^^^^ - File "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/phystwin_real_rgbd.py", line 1183, in main - return args.handler(args) - ^^^^^^^^^^^^^^^^^^ - File "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/phystwin_real_rgbd.py", line 644, in _propose - require_prompt_saveable(output, frames, prompt, supersede=bool(entry.get("supersede", False))) - File "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/belt_perception/real_rgbd/annotations.py", line 240, in require_prompt_saveable - _require(not supersede or bool(versions), f"{prompt.serial}/{prompt.instance} frame {prompt.t} has no prompt to supersede") - File "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/belt_perception/real_rgbd/annotations.py", line 76, in _require - raise ValueError(message) -ValueError: 12540311/occluder frame 301 has no prompt to supersede diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_argv.json deleted file mode 100644 index 546499569fbbddd2ba8f5f8ec2973f3a55703dc8..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/proposal_occluder_accessory_c6a_sparse_v2.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/correction_overlays_c6a_accessory_sparse_v2", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_newseed.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_newseed.log deleted file mode 100644 index eb7bb3d6c7b3083d97722b4f26f4b767fc80b023..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_newseed.log +++ /dev/null @@ -1 +0,0 @@ -12540311/occluder t=301: 154930 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/correction_overlays_c6a_accessory_sparse_v2_newseed/12540311/occluder_t0301.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_newseed_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_newseed_argv.json deleted file mode 100644 index f6c9e8278582bf51e557281d4008cbe744b1a4cb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_newseed_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/proposal_occluder_accessory_c6a_sparse_v2_newseed.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/correction_overlays_c6a_accessory_sparse_v2_newseed", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_newseed_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_newseed_result.json deleted file mode 100644 index a90347cf1951815e3d23bff6cbf80245184b1a1d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_newseed_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 15.051270723342896, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_result.json deleted file mode 100644 index d11a8dbd20126bbb3726e5da0c68a672c6c98a7e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/propose_c6a_accessory_sparse_v2_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 1, - "wall_seconds": 2.1948342323303223, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/recovery2_admission.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/recovery2_admission.json deleted file mode 100644 index 59b6e8616348f386935de2e1c7a0d7aa25d7cee6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/recovery2_admission.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "completed_before_resume": [ - { - "serial": "12540311", - "role": "object", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "12540311", - "role": "hand_A", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "12540311", - "role": "hand_B", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "12540311", - "role": "occluder", - "supplier_runs": [ - 1 - ] - } - ], - "full_current_mask_admission": true, - "owner_accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review-media_c6a.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review-media_c6a.log deleted file mode 100644 index fdba6021477a1bde58020923084a668286660f42..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review-media_c6a.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_v1 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review-media_c6a_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review-media_c6a_argv.json deleted file mode 100644 index a7ea122f7406b6a2bb1a7f93491d7bc7e32cc4de..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review-media_c6a_argv.json +++ /dev/null @@ -1,27 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_v1", - "--view", - "12540311", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "226", - "--t", - "301" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review-media_c6a_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review-media_c6a_result.json deleted file mode 100644 index 4065c4c9050bd90f7888d709b169624cfd128a88..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review-media_c6a_result.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 65.66355919837952, - "started_unix": 1793129094.011231, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v1.log deleted file mode 100644 index caebbc595acdaa13795092b846abdc44436833aa..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_accessory_sparse_v1 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index 9c063f4a78bf3f4ddcf10b934810b95cf350ab6c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,29 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_real_rgbd.py", - "review-media", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_accessory_sparse_v1", - "--view", - "12540311", - "--instance", - "occluder", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "226", - "--t", - "301" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index a41108594d32f42d9e373622d6c3d50acd68740b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 31.318179845809937, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v2_newseed.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v2_newseed.log deleted file mode 100644 index 28ce215eeaf4eee991134c84edd7179c04d20a9d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v2_newseed.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_accessory_sparse_v2_newseed diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v2_newseed_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v2_newseed_argv.json deleted file mode 100644 index f2b01e903a64f267fbcbea4da0c488a0ca047c83..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v2_newseed_argv.json +++ /dev/null @@ -1,29 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_real_rgbd.py", - "review-media", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/review_media_c6a_accessory_sparse_v2_newseed", - "--view", - "12540311", - "--instance", - "occluder", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "226", - "--t", - "301" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v2_newseed_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v2_newseed_result.json deleted file mode 100644 index 977b9e68ffe4b7526b61cf1d454a89b9bfde6f68..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/review_c6a_accessory_sparse_v2_newseed_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 37.30181932449341, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/window_command.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/window_command.json deleted file mode 100644 index 8bdc7bb2c621dbeaaef682c04ec146b28e35882d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12540311/window_command.json +++ /dev/null @@ -1,22 +0,0 @@ -[ - "/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_225524_803572", - "--anchor-serial", - "12540311", - "--start-timestamp-ns", - "1790045765954713038", - "--end-timestamp-ns", - "1790045776056590698", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "taped round belt", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Hand_A fingertips reach and curl around one end of the loop (end nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop end from 412; 12933256 fingertips still visibly above the loop at 416-420, at loop level from ~422-426). 428 is inside the confirmed-contact region and was chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last frame before release.", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12540311/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json deleted file mode 100644 index ae9fcc4d5ff94ae3b007c596dd0fd8439a2b4a98..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "4d3e98b95fec79fe560babcfa862b27dfcc729776e4dc73e513897d9f2b3fdfe", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 425, - 727 - ], - "anchor_time_ns_first_last": [ - 1790045765941847322, - 1790045776039530890 - ] - }, - "serial": "12933256", - "view_index": 1, - "instance": "hand_A", - "frame": { - "t": 0, - "sync_index": 425, - "converted_frame_index": 425, - "official_frame_index": 425, - "native_container_frame_index": 426, - "view_time_ns": 1790045765941847322 - }, - "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": [ - [ - 1120.0, - 476.0 - ], - [ - 1054.0, - 495.0 - ], - [ - 1027.0, - 512.0 - ], - [ - 1093.0, - 470.0 - ], - [ - 1170.0, - 490.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 996.0, - 425.0, - 1156.0, - 550.0 - ], - "source": "agent:c6a_20261027", - "note": "C6a agent first proposal; native pixels. Whole-person occluder includes all visible human pixels; bare hand excludes bracelet. Contact onset remains owner review.", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "8e555cd58835e5f0b7a1952a14107195ab604d682975a1b98baeb3ff1b75b819", - "seed_mask_pixels": 9864, - "seed_model": { - "predictor": "sam2_video_predictor", - "config": "configs/sam2.1/sam2.1_hiera_l.yaml", - "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml", - "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318", - "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2", - "sam2_git": { - "commit": "969dad578a42d4c75624f87821497d37aabfbe99", - "clean": true - }, - "build": "build_sam2_video_predictor(apply_postprocessing=True)", - "fill_hole_area": 0, - "binarize_mask_from_pts_for_mem_enc": true, - "non_overlap_masks": false, - "image_size": 1024, - "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)", - "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)", - "mask_logit_threshold": 0.0, - "autocast": "bfloat16", - "tf32": true, - "device": "cuda", - "torch": "2.11.0+cu128" - }, - "created_utc": "2026-10-27T19:26:09Z" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index 18a5e78883887bd8a424f0c13ca6b1722a9b5dca..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8e555cd58835e5f0b7a1952a14107195ab604d682975a1b98baeb3ff1b75b819 -size 1553 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json deleted file mode 100644 index 24facce61d8844fe0897210fb4f62d26c6e61185..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json +++ /dev/null @@ -1,55 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "4d3e98b95fec79fe560babcfa862b27dfcc729776e4dc73e513897d9f2b3fdfe", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 425, - 727 - ], - "anchor_time_ns_first_last": [ - 1790045765941847322, - 1790045776039530890 - ] - }, - "serial": "12933256", - "view_index": 1, - "instance": "hand_B", - "frame": { - "t": 0, - "sync_index": 425, - "converted_frame_index": 425, - "official_frame_index": 425, - "native_container_frame_index": 426, - "view_time_ns": 1790045765941847322 - }, - "version": 1, - "supersedes": null, - "image_size_hw": [ - 1080, - 1920 - ], - "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres", - "points_uv": [], - "labels": [], - "box_uv": null, - "source": "agent:c6a_20261027", - "note": "No participating left-hand controller; visible nonparticipating left hand belongs to occluder. Agent proposal, pending owner acceptance.", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "6e854e62e28996ac78abed3a72856e00f27ba852d1e4f076149062d512afe1d0", - "seed_mask_pixels": 0, - "seed_model": { - "predictor": "agent_proposed_absence" - }, - "created_utc": "2026-10-27T19:26:09Z", - "reviewed_absence_half_open": [ - 0, - 302 - ] -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/object/t0000_v01.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/object/t0000_v01.json deleted file mode 100644 index 976dffed869527550ed608f672b7b6432318db4e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/object/t0000_v01.json +++ /dev/null @@ -1,109 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "4d3e98b95fec79fe560babcfa862b27dfcc729776e4dc73e513897d9f2b3fdfe", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 425, - 727 - ], - "anchor_time_ns_first_last": [ - 1790045765941847322, - 1790045776039530890 - ] - }, - "serial": "12933256", - "view_index": 1, - "instance": "object", - "frame": { - "t": 0, - "sync_index": 425, - "converted_frame_index": 425, - "official_frame_index": 425, - "native_container_frame_index": 426, - "view_time_ns": 1790045765941847322 - }, - "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": [ - [ - 935.0, - 530.0 - ], - [ - 770.0, - 620.0 - ], - [ - 800.0, - 687.0 - ], - [ - 1000.0, - 619.0 - ], - [ - 890.0, - 610.0 - ], - [ - 1027.0, - 512.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 747.0, - 519.0, - 1045.0, - 700.0 - ], - "source": "agent:c6a_20261027", - "note": "C6a agent first proposal; native pixels. Whole-person occluder includes all visible human pixels; bare hand excludes bracelet. 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a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/annotations/prompts/12933256/occluder/t0000_v02_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0bbae28c0824e7ba3d0130d3b70dde10d9b4ddb1b8bc7b223e97b0c25484a6d7 -size 4292 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/inspect.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/inspect.log deleted file mode 100644 index 1c934c04034b7d836e5a47cd120ce1f384731df6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/inspect.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 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1, - "valid_frames": 302, - "rgb_depth_index_equal": true, - "offset_from_anchor_ms": { - "min": -12.189179, - "median": -8.927032, - "max": 30.763882 - }, - "image_hw": [ - 1080, - 1920 - ], - "K_fx_fy_cx_cy": [ - 1054.15380859375, - 1054.15380859375, - 969.40234375, - 516.3899536132812 - ], - "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_225524_803572", - "session_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572", - "window_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/phystwin_window.yaml", - "window_sha256": "4d3e98b95fec79fe560babcfa862b27dfcc729776e4dc73e513897d9f2b3fdfe", - "window_resolved": { - "duration_s": 10.097684, - "end_anchor_timestamp_ns": 1790045776039530890, - "end_sync_index_exclusive": 727, - "frame_count": 302, - "start_anchor_timestamp_ns": 1790045765941847322, - "start_sync_index": 425 - }, - "manual_annotation_ns": [ - 1790045765941847322, - 1790045776039530890 - ], - "anchor_stream_id": "zed_12933256_left_rgb", - "sync_clock": "sync_time_ns (host_unix_time_ns)", - "device_clock": "device_time_ns", - "frame_association": "nearest per view to each anchor time, ties to the earlier frame, no tolerance", - "intrinsics_source": "metadata/calibration.json camera_intrinsics at the recorded stream size", - "calibration": { - "package_dir": "metadata/calibration_package", - "world_frame": "table", - "pose_source": "phase_05_final", - "final_transform_source": "combined_fixed_movable_ba", - "source_run_name": "20260921_200440", - "candidate_pose_set_name": "fixed020_movable1", - "world_T_camera_bundle": "world_T_camera_by_serial.npz", - "world_T_camera_bundle_sha256": "2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5" - } - }, - "samples": [ - { - "t": 0, - "serial": "12540311", - "converted_frame_index": 426, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 4787 - }, - "depth_zero_fraction": 0.03697386188271605, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.289, - 1.298, - 4.787 - ] - }, - { - "t": 0, - "serial": "12933256", - "converted_frame_index": 425, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 7196 - }, - "depth_zero_fraction": 0.03298611111111111, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.5650000000000001, - 1.158, - 7.196 - ] - }, - { - "t": 0, - "serial": "17736741", - "converted_frame_index": 425, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 3758 - }, - "depth_zero_fraction": 0.014270351080246914, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.581, - 1.1460000000000001, - 3.758 - ] - }, - { - "t": 0, - "serial": "23007103", - "converted_frame_index": 425, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 4336 - }, - "depth_zero_fraction": 0.03828510802469136, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.48, - 1.053, - 4.336 - ] - } - ] -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0302.npz deleted file mode 100644 index 6febb3a65f13d1377711daf1fe2046104e808065..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0302.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9f97d3e5c8b7b4504ef497274802a7c7e2e951873c3b7334bd86b1898790db3a -size 248469 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0302.npz deleted file mode 100644 index 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https://git-lfs.github.com/spec/v1 -oid sha256:4ed4438e13ce93bf8dc8b68bd9e53ceca0cfe9ede2e86b8247b6d7e94555d762 -size 981160 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/masks/12933256/occluder/run0002_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/masks/12933256/occluder/run0002_t0000-0302.npz deleted file mode 100644 index 3d6e626526bf43a2ea260494424ac597851a9157..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/masks/12933256/occluder/run0002_t0000-0302.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a243cd90fba829b75bad7786e2aa7a224da14bc2025aaf27d7d15f9c655314c4 -size 985067 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/phystwin_window.yaml b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/phystwin_window.yaml deleted file mode 100644 index 5aa91d12a6b2255f1b582496f9293dbfa8818e2f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/phystwin_window.yaml +++ /dev/null @@ -1,90 +0,0 @@ -schema_version: 1 -kind: phystwin_interaction_window -session: - path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572 - session_id: session_20260921_225524_803572 -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_225524_803572 - --sensor-types zed - timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the - current integer-nanosecond timestamp at the desired start/end moments. - notes: '' -timebase: - policy: native_anchor_overlap - sync_policy: AnchorStreamSyncPolicy - overlap: true - anchor_serial: '12933256' - anchor_stream_id: zed_12933256_left_rgb - timestamp_unit: ns - timestamp_reference: sync_time_ns - period_ns_estimate: 33449019 - fps_estimate: 29.896243 -manual_annotation: - start_global_timestamp_ns: 1790045765941847322 - end_global_timestamp_ns: 1790045776039530890 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: taped round belt - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Hand_A fingertips reach and curl around one end of the loop (end - nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop - end from 412; 12933256 fingertips still visibly above the loop at 416-420, at - loop level from ~422-426). 428 is inside the confirmed-contact region and was - chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) - while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), - off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; - at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop - end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last - frame before release. -resolved_window: - start_sync_index: 425 - end_sync_index_exclusive: 727 - start_anchor_timestamp_ns: 1790045765941847322 - end_anchor_timestamp_ns: 1790045776039530890 - frame_count: 302 - duration_s: 10.097684 -per_camera_resolution: - '12540311': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 727 - start_source_timestamp_ns: 1790045765954713038 - end_source_timestamp_ns: 1790045776023061871 - start_delta_ns: 12865716 - end_delta_ns: -16469019 - '12933256': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 727 - start_source_timestamp_ns: 1790045765941847322 - end_source_timestamp_ns: 1790045776039530890 - start_delta_ns: 0 - end_delta_ns: 0 - '17736741': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 727 - start_source_timestamp_ns: 1790045765940627217 - end_source_timestamp_ns: 1790045776036536746 - start_delta_ns: -1220105 - end_delta_ns: -2994144 - '23007103': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 727 - start_source_timestamp_ns: 1790045765939567593 - end_source_timestamp_ns: 1790045776030692126 - start_delta_ns: -2279729 - end_delta_ns: -8838764 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 16469019 - warnings: [] -created_by: manual -created_at: '2026-10-27T19:18:26+00:00' -updated_at: '2026-10-27T19:18:26+00:00' - diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v1.log deleted file mode 100644 index edd5ae21d02da1d48a2e16d7cefc3db0db09d8c7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -12933256/occluder t=0: 180879 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/correction_preview_c6a_accessory_sparse_v1/12933256/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index 855d6925016e8e54538d497c3b6410b5fa411c4a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_occluder_accessory_c6a_sparse_v1.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/correction_preview_c6a_accessory_sparse_v1", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index 9c1063f03e9569bdefd2aed54deb61a98cd44c44..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 9.809491157531738, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v2.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v2.log deleted file mode 100644 index 35b6f9d771b09e486810ae2865d851133a1a8a0f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v2.log +++ /dev/null @@ -1 +0,0 @@ -12933256/occluder t=0: 181431 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/correction_preview_c6a_accessory_sparse_v2/12933256/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v2_argv.json deleted file mode 100644 index 6b990065e477d18d0044ad56f0d78f2c6b446a56..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v2_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_occluder_accessory_c6a_sparse_v2.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/correction_preview_c6a_accessory_sparse_v2", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v2_result.json deleted file mode 100644 index 1b1ad786ca7afe28a09635e7435a50b6c3f3ae70..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v2_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 9.021249294281006, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v3.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v3.log deleted file mode 100644 index d8d8d27548f2e34637ceebad099dead6dcce8dac..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v3.log +++ /dev/null @@ -1 +0,0 @@ -12933256/occluder t=0: 183537 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/correction_preview_c6a_accessory_sparse_v3/12933256/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v3_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v3_argv.json deleted file mode 100644 index f5a581bf4ae956c1a8f7707a386267a200c7f1c6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v3_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_occluder_accessory_c6a_sparse_v3.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/correction_preview_c6a_accessory_sparse_v3", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v3_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v3_result.json deleted file mode 100644 index bed6199c06707f2ead9576cd49dc063c39408c57..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/preview_c6a_accessory_sparse_v3_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 9.247539758682251, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1.log deleted file mode 100644 index 93f98491b5458e01ba84ba272e48b1df8ff9c82d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1,3 +0,0 @@ - propagate in video: 0%| | 0/302 [00:00 /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_overlays_c6a_v1/12933256/object_t0000.png -12933256/hand_A t=0: 9864 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_overlays_c6a_v1/12933256/hand_A_t0000.png -12933256/occluder t=0: 181989 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_overlays_c6a_v1/12933256/occluder_t0000.png -12933256/hand_B t=0: 0 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_overlays_c6a_v1/12933256/hand_B_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_accessory_sparse_v1.log deleted file mode 100644 index 1088e9b620d042aa80a89e0adeb2afa2400cff83..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -12933256/occluder t=0: 180879 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/correction_overlays_c6a_accessory_sparse_v1/12933256/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index a4751148c51b64a7b713be7fa5531412963774e4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_occluder_accessory_c6a_sparse_v1.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/correction_overlays_c6a_accessory_sparse_v1", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index 297a0e7fd837608b86d25ed435780d937cd33931..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 8.7396080493927, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_argv.json deleted file mode 100644 index 233cee196d6a312fe47e8bbd2dccc640807704f2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_prompts_c6a_v1.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/proposal_overlays_c6a_v1", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_result.json deleted file mode 100644 index 31bd5791ebb11f68b145f23ed0052ac97317b66d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/propose_c6a_result.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 10.389780521392822, - "started_unix": 1793129159.675036, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/recovery2_admission.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/recovery2_admission.json deleted file mode 100644 index 9914a01fce4a36eef03b0291bfa6cb264d93d855..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/recovery2_admission.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "completed_before_resume": [ - { - "serial": "12933256", - "role": "object", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "12933256", - "role": "hand_A", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "12933256", - "role": "hand_B", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "12933256", - "role": "occluder", - "supplier_runs": [ - 1 - ] - } - ], - "full_current_mask_admission": true, - "owner_accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review-media_c6a.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review-media_c6a.log deleted file mode 100644 index fcdc38d76857e82b85f0fb8b4ff0d5d86ff5c3b4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review-media_c6a.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_v1 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review-media_c6a_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review-media_c6a_argv.json deleted file mode 100644 index 11055cd795e85f73b7bdfdc2e451bb5d27ddb847..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review-media_c6a_argv.json +++ /dev/null @@ -1,27 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_v1", - "--view", - "12933256", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "226", - "--t", - "301" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review-media_c6a_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review-media_c6a_result.json deleted file mode 100644 index c710c8fade3c8c9201d1e920b40e814e85fe62e8..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review-media_c6a_result.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 58.993940591812134, - "started_unix": 1793129284.631191, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review_c6a_accessory_sparse_v1.log deleted file mode 100644 index 8e5459e322fc2ce161b1ed6164790e52d59d4524..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_accessory_sparse_v1 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index 6ec7b65e30cb5dd1bbf5099494c0eee054095a3c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,29 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_real_rgbd.py", - "review-media", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/review_media_c6a_accessory_sparse_v1", - "--view", - "12933256", - "--instance", - "occluder", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "226", - "--t", - "301" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index ca3328a1630b24333b623f03f3e5c2d452decfaf..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/review_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 36.05574893951416, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/window_command.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/window_command.json deleted file mode 100644 index 73834dc6a34f2057bb4518d1ecb1f0b530ffaf0e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/12933256/window_command.json +++ /dev/null @@ -1,22 +0,0 @@ -[ - "/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_225524_803572", - "--anchor-serial", - "12933256", - "--start-timestamp-ns", - "1790045765941847322", - "--end-timestamp-ns", - "1790045776039530890", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "taped round belt", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Hand_A fingertips reach and curl around one end of the loop (end nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop end from 412; 12933256 fingertips still visibly above the loop at 416-420, at loop level from ~422-426). 428 is inside the confirmed-contact region and was chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last frame before release.", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/12933256/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json deleted file mode 100644 index 19fd3f1f5f099774f041c1418a19394a55076b23..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json +++ /dev/null @@ -1,109 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "6fa117fb9a2ac3ce7cd5998c8ffb67c6401227e5195dc4c6016bb0a515a18eb1", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 424, - 727 - ], - "anchor_time_ns_first_last": [ - 1790045765940627217, - 1790045776069408716 - ] - }, - "serial": "17736741", - "view_index": 2, - "instance": "hand_A", - "frame": { - "t": 0, - "sync_index": 424, - "converted_frame_index": 425, - "official_frame_index": 425, - "native_container_frame_index": 426, - "view_time_ns": 1790045765940627217 - }, - "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, - 636.0 - ], - [ - 884.0, - 721.0 - ], - [ - 950.0, - 781.0 - ], - [ - 973.0, - 749.0 - ], - [ - 841.0, - 668.0 - ], - [ - 724.0, - 587.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 716.0, - 568.0, - 1006.0, - 815.0 - ], - "source": "agent:c6a_20261027", - "note": "C6a agent first proposal; native pixels. Whole-person occluder includes all visible human pixels; bare hand excludes bracelet. Contact onset remains owner review.", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "d74ea0e502e4fc0062b48a78c3e1c96ba1a726a02c4ec54a937d4680d9d57032", - "seed_mask_pixels": 24982, - "seed_model": { - "predictor": "sam2_video_predictor", - "config": "configs/sam2.1/sam2.1_hiera_l.yaml", - "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml", - "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318", - "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2", - "sam2_git": { - "commit": "969dad578a42d4c75624f87821497d37aabfbe99", - "clean": true - }, - "build": "build_sam2_video_predictor(apply_postprocessing=True)", - "fill_hole_area": 0, - "binarize_mask_from_pts_for_mem_enc": true, - "non_overlap_masks": false, - "image_size": 1024, - "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)", - "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)", - "mask_logit_threshold": 0.0, - "autocast": "bfloat16", - "tf32": true, - "device": "cuda", - "torch": "2.11.0+cu128" - }, - "created_utc": "2026-10-27T19:29:15Z" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index d1b54afb61697cb05369fe50b6345280c2ac2a5e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d74ea0e502e4fc0062b48a78c3e1c96ba1a726a02c4ec54a937d4680d9d57032 -size 2396 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/hand_B/t0000_v01.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/hand_B/t0000_v01.json deleted file mode 100644 index 955244fe69c49ec98e99cc85c66e4aa46b3c3b41..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/hand_B/t0000_v01.json +++ /dev/null @@ -1,55 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "6fa117fb9a2ac3ce7cd5998c8ffb67c6401227e5195dc4c6016bb0a515a18eb1", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 424, - 727 - ], - "anchor_time_ns_first_last": [ - 1790045765940627217, - 1790045776069408716 - ] - }, - "serial": "17736741", - "view_index": 2, - "instance": "hand_B", - "frame": { - "t": 0, - "sync_index": 424, - "converted_frame_index": 425, - "official_frame_index": 425, - "native_container_frame_index": 426, - "view_time_ns": 1790045765940627217 - }, - "version": 1, - "supersedes": null, - "image_size_hw": [ - 1080, - 1920 - ], - "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres", - "points_uv": [], - "labels": [], - "box_uv": null, - "source": "agent:c6a_20261027", - "note": "No participating left-hand controller; visible nonparticipating left hand belongs to occluder. Agent proposal, pending owner acceptance.", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "6e854e62e28996ac78abed3a72856e00f27ba852d1e4f076149062d512afe1d0", - "seed_mask_pixels": 0, - "seed_model": { - "predictor": "agent_proposed_absence" - }, - "created_utc": "2026-10-27T19:29:15Z", - "reviewed_absence_half_open": [ - 0, - 303 - ] -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json deleted file mode 100644 index 9fdd6130e60a83f25067a7a5dc4b61f59f3a8f67..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json +++ /dev/null @@ -1,109 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "6fa117fb9a2ac3ce7cd5998c8ffb67c6401227e5195dc4c6016bb0a515a18eb1", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 424, - 727 - ], - "anchor_time_ns_first_last": [ - 1790045765940627217, - 1790045776069408716 - ] - }, - "serial": "17736741", - "view_index": 2, - "instance": "object", - "frame": { - "t": 0, - "sync_index": 424, - "converted_frame_index": 425, - "official_frame_index": 425, - "native_container_frame_index": 426, - "view_time_ns": 1790045765940627217 - }, - "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": [ - [ - 1095.0, - 517.0 - ], - [ - 956.0, - 680.0 - ], - [ - 1055.0, - 771.0 - ], - [ - 1200.0, - 630.0 - ], - [ - 1080.0, - 650.0 - ], - [ - 945.0, - 749.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 944.0, - 505.0, - 1218.0, - 785.0 - ], - "source": "agent:c6a_20261027", - "note": "C6a agent first proposal; native pixels. Whole-person occluder includes all visible human pixels; bare hand excludes bracelet. 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a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v03_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d52beda6e6e31a207df918a6ec8740486e659f485f8322ff8fc16b618dde656c -size 5610 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspect.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspect.log deleted file mode 100644 index 3406ac7508a5e966e3ebaf2bd254560a8d0f60da..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspect.log +++ /dev/null @@ -1 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection/inspection.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspect_command.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspect_command.json deleted file mode 100644 index 45b0e792ef6be24b8a70aa286ab9d3751b9e0c76..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspect_command.json +++ /dev/null @@ -1,15 +0,0 @@ -[ - "/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_225524_803572", - "--window", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/phystwin_window.yaml", - "--frame-association", - "anchor_nearest", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection", - "--sample-t", - "0" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspection/frames.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspection/frames.npz deleted file mode 100644 index a1eba2de81873c24167d6cca3221d71d83629c34..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1d65b63a40859a4e9310f9029eeeb08b9e38ed76ecb9d05d956f2b10e2ee9588 -size 77524 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspection/inspection.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspection/inspection.json deleted file mode 100644 index f99dc5d92de99e71dacc5afe307072911c82b263..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/inspection/inspection.json +++ /dev/null @@ -1,344 +0,0 @@ -{ - 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b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/hand_A/run0001_t0000-0303.npz deleted file mode 100644 index a96569ddbd4784512fcfc7ddb3e38a55dec7a95e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/hand_A/run0001_t0000-0303.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e2add0a6fe3ab97bce1ee3d1a991a33264948e0e125892cc6b4092b913a3a509 -size 501750 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/hand_B/run0001_t0000-0303.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/hand_B/run0001_t0000-0303.npz deleted file mode 100644 index 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a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/object/run0001_t0000-0303.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:adad97a7884072407f50718e3df1ecdab626815e2167ffb423032e47c212f745 -size 400728 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/occluder/run0001_t0000-0303.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/occluder/run0001_t0000-0303.npz deleted file mode 100644 index 1ce518baeee7ab19e4719c356f317d30227c091a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/occluder/run0001_t0000-0303.npz +++ /dev/null @@ -1,3 +0,0 @@ -version 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a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/occluder/run0003_t0000-0303.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/occluder/run0003_t0000-0303.npz deleted file mode 100644 index 986312ca38bb6ad4cf678398d70752ca9a729911..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/masks/17736741/occluder/run0003_t0000-0303.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e42118753efa1da84394c8c96fa5752f2650cdd454b7300f8cdd8879eeccbe31 -size 1234450 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/phystwin_window.yaml b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/phystwin_window.yaml deleted file mode 100644 index 0b40806253ae11d7f61c3a54cb55af95fb795d43..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/phystwin_window.yaml +++ /dev/null @@ -1,90 +0,0 @@ -schema_version: 1 -kind: phystwin_interaction_window -session: - path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572 - session_id: session_20260921_225524_803572 -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_225524_803572 - --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: 33440318 - fps_estimate: 29.904022 -manual_annotation: - start_global_timestamp_ns: 1790045765940627217 - end_global_timestamp_ns: 1790045776069408716 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: taped round belt - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Hand_A fingertips reach and curl around one end of the loop (end - nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop - end from 412; 12933256 fingertips still visibly above the loop at 416-420, at - loop level from ~422-426). 428 is inside the confirmed-contact region and was - chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) - while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), - off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; - at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop - end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last - frame before release. -resolved_window: - start_sync_index: 424 - end_sync_index_exclusive: 727 - start_anchor_timestamp_ns: 1790045765940627217 - end_anchor_timestamp_ns: 1790045776069408716 - frame_count: 303 - duration_s: 10.128781 -per_camera_resolution: - '12540311': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765954713038 - end_source_timestamp_ns: 1790045776056590698 - start_delta_ns: 14085821 - end_delta_ns: -12818018 - '12933256': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765941847322 - end_source_timestamp_ns: 1790045776074289334 - start_delta_ns: 1220105 - end_delta_ns: 4880618 - '17736741': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765940627217 - end_source_timestamp_ns: 1790045776069408716 - start_delta_ns: 0 - end_delta_ns: 0 - '23007103': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765939567593 - end_source_timestamp_ns: 1790045776065248182 - start_delta_ns: -1059624 - end_delta_ns: -4160534 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 14085821 - warnings: [] -created_by: manual -created_at: '2026-10-27T19:18:59+00:00' -updated_at: '2026-10-27T19:18:59+00:00' - diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_accessory_sparse_v1.log deleted file mode 100644 index e5c952e03adf68dc7f32ae3b8361157889c0a450..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -17736741/occluder t=0: 233791 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/correction_preview_c6a_accessory_sparse_v1/17736741/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index 7a7c88989d3eb472592a78c779056ef83363c601..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - 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"--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index bdab0e29fe6229f126c934a2b38d21ac0a3ffa74..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 9.99553656578064, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_v3.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_v3.log deleted file mode 100644 index 13e91c84760bda05ba009bfe8d91b3ab5a6c3556..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_v3.log +++ /dev/null @@ -1 +0,0 @@ -17736741/occluder t=0: 224655 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/correction_preview_c6a_v3/17736741/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_v3_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_v3_argv.json deleted file mode 100644 index 1f0d64cdb49a1e94ed62aab7ecf2e9a257233c4e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_v3_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/proposal_occluder_c6a_v3.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/correction_preview_c6a_v3", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_v3_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_v3_result.json deleted file mode 100644 index b5201a5d813e8935d9503d18b6a6787a759eee7e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/preview_c6a_v3_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 10.26417851448059, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propagate_17736741_occluder_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propagate_17736741_occluder_c6a_accessory_sparse_v1.log deleted file mode 100644 index 34953bed6fd14342a0d671b293ab636f43b9f968..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propagate_17736741_occluder_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1,3 +0,0 @@ - propagate in video: 0%| | 0/303 [00:00 /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/proposal_overlays_c6a_v1/17736741/object_t0000.png -17736741/hand_A t=0: 24982 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/proposal_overlays_c6a_v1/17736741/hand_A_t0000.png -17736741/occluder t=0: 263951 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/proposal_overlays_c6a_v1/17736741/occluder_t0000.png -17736741/hand_B t=0: 0 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/proposal_overlays_c6a_v1/17736741/hand_B_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_accessory_sparse_v1.log deleted file mode 100644 index 492f006bf50166643739441b81b1ac5590f0cdfb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -17736741/occluder t=0: 233791 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/correction_overlays_c6a_accessory_sparse_v1/17736741/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index 994bcabe4be40c1ade637fb41119e9ba43ce0abd..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - 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"--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index e6be31ac394728e06651fdc7368116c131aaaf3f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 9.926401615142822, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_argv.json deleted file mode 100644 index c487f356b8a6152122458607af964f8c028c7c68..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - 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"--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_result.json deleted file mode 100644 index c3c47a3caeaeb534a554b97eeacf5570c97a6915..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_result.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 12.784487962722778, - "started_unix": 1793129343.625391, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_v3.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_v3.log deleted file mode 100644 index 40f57b9017b512922833721256bb827472e4da4b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_v3.log +++ /dev/null @@ -1 +0,0 @@ -17736741/occluder t=0: 224655 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/correction_overlays_c6a_v3/17736741/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_v3_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_v3_argv.json deleted file mode 100644 index 5476e9cbb6df22e8211935ecb3d91df1bdd6ad58..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_v3_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/proposal_occluder_c6a_v3.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/correction_overlays_c6a_v3", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_v3_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_v3_result.json deleted file mode 100644 index dbe53077807ad6920265fc846687c950e8577cf5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/propose_c6a_v3_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 12.430223226547241, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/recovery2_admission.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/recovery2_admission.json deleted file mode 100644 index ea25f3d9f9e261c77f33200461200470e89fafc4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/recovery2_admission.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "completed_before_resume": [ - { - "serial": "17736741", - "role": "object", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "17736741", - "role": "hand_A", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "17736741", - "role": "hand_B", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "17736741", - "role": "occluder", - "supplier_runs": [ - 2 - ] - } - ], - "full_current_mask_admission": true, - "owner_accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review-media_c6a.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review-media_c6a.log deleted file mode 100644 index 26ffdf6d471e749eddaad5535f2f4a89422a8683..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review-media_c6a.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v1 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review-media_c6a_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review-media_c6a_argv.json deleted file mode 100644 index 833d733ec204d9fa224b438a772c11ed80fbd7ff..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review-media_c6a_argv.json +++ /dev/null @@ -1,27 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v1", - "--view", - "17736741", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "227", - "--t", - "302" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review-media_c6a_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review-media_c6a_result.json deleted file mode 100644 index a43f5c88367b9af574aa471b5aadcdb9407195f0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review-media_c6a_result.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 79.43160152435303, - "started_unix": 1793129499.673513, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_accessory_sparse_v1.log deleted file mode 100644 index cd8efea26010597761f2edae0679635888312161..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_accessory_sparse_v1 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index fd567772adfabae1bda59f8a2ee76ef6dab624df..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,29 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_real_rgbd.py", - "review-media", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_accessory_sparse_v1", - "--view", - "17736741", - "--instance", - "occluder", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "227", - "--t", - "302" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index 4bd635d44df9f63a1f14f919a65e9c78b2082d46..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 32.57069230079651, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_v3.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_v3.log deleted file mode 100644 index 1c2be47bd75da82d151d3209b143650c546bbb7e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_v3.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v3 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_v3_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_v3_argv.json deleted file mode 100644 index 139576575da83f3921c3b75ff0d6174716777753..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_v3_argv.json +++ /dev/null @@ -1,27 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/review_media_c6a_v3", - "--view", - "17736741", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "227", - "--t", - "302" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_v3_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_v3_result.json deleted file mode 100644 index 1bca66ea52500283cb16117355c4f6c4f2a06cf1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/review_c6a_v3_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 69.35722231864929, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/window_command.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/window_command.json deleted file mode 100644 index 03162ceacd95b4f0692cf964cde5bc969f2ce109..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/17736741/window_command.json +++ /dev/null @@ -1,22 +0,0 @@ -[ - "/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_225524_803572", - "--anchor-serial", - "17736741", - "--start-timestamp-ns", - "1790045765940627217", - "--end-timestamp-ns", - "1790045776069408716", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "taped round belt", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Hand_A fingertips reach and curl around one end of the loop (end nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop end from 412; 12933256 fingertips still visibly above the loop at 416-420, at loop level from ~422-426). 428 is inside the confirmed-contact region and was chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last frame before release.", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/17736741/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json deleted file mode 100644 index 4b882c07a54b53978cd2bbc9fb7c9464c743eb5b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "6c909093cd75f7d44de354835896978da9b67b02e71db7b08b9c83a4a14a216e", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 425, - 727 - ], - "anchor_time_ns_first_last": [ - 1790045765963424329, - 1790045776065248182 - ] - }, - "serial": "23007103", - "view_index": 3, - "instance": "hand_A", - "frame": { - "t": 0, - "sync_index": 425, - "converted_frame_index": 426, - "official_frame_index": 426, - "native_container_frame_index": 427, - "view_time_ns": 1790045765963424329 - }, - "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": [ - [ - 1120.0, - 373.0 - ], - [ - 1022.0, - 429.0 - ], - [ - 960.0, - 466.0 - ], - [ - 1068.0, - 408.0 - ], - [ - 1151.0, - 340.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 932.0, - 337.0, - 1155.0, - 497.0 - ], - "source": "agent:c6a_20261027", - "note": "C6a agent first proposal; native pixels. Whole-person occluder includes all visible human pixels; bare hand excludes bracelet. Contact onset remains owner review.", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "bc580a4ee378db5cf292f23d009dfb4606ebd0b2488183d21cbf6cb77cfdba8e", - "seed_mask_pixels": 12078, - "seed_model": { - "predictor": "sam2_video_predictor", - "config": "configs/sam2.1/sam2.1_hiera_l.yaml", - "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml", - "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318", - "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2", - "sam2_git": { - "commit": "969dad578a42d4c75624f87821497d37aabfbe99", - "clean": true - }, - "build": "build_sam2_video_predictor(apply_postprocessing=True)", - "fill_hole_area": 0, - "binarize_mask_from_pts_for_mem_enc": true, - "non_overlap_masks": false, - "image_size": 1024, - "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)", - "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)", - "mask_logit_threshold": 0.0, - "autocast": "bfloat16", - "tf32": true, - "device": "cuda", - "torch": "2.11.0+cu128" - }, - "created_utc": "2026-10-27T19:33:11Z" -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index c39c2d4eef37904aeccccc8c745960206cb38d48..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bc580a4ee378db5cf292f23d009dfb4606ebd0b2488183d21cbf6cb77cfdba8e -size 1779 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/hand_B/t0000_v01.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/hand_B/t0000_v01.json deleted file mode 100644 index 1c6cc8233676e6bde115ecc560b7c18389ec7414..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/hand_B/t0000_v01.json +++ /dev/null @@ -1,55 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_225524_803572", - "window_sha256": "6c909093cd75f7d44de354835896978da9b67b02e71db7b08b9c83a4a14a216e", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 425, - 727 - ], - "anchor_time_ns_first_last": [ - 1790045765963424329, - 1790045776065248182 - ] - }, - "serial": "23007103", - "view_index": 3, - "instance": "hand_B", - "frame": { - "t": 0, - "sync_index": 425, - "converted_frame_index": 426, - "official_frame_index": 426, - "native_container_frame_index": 427, - "view_time_ns": 1790045765963424329 - }, - "version": 1, - "supersedes": null, - "image_size_hw": [ - 1080, - 1920 - ], - "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres", - "points_uv": [], - "labels": [], - "box_uv": null, - "source": "agent:c6a_20261027", - "note": "No participating left-hand controller; visible nonparticipating left hand belongs to occluder. 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a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/annotations/prompts/23007103/occluder/t0000_v02_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:85443cf2a13deb392510e23ec4dd5538799b1e7917e3697ba662393ae5674eff -size 5293 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspect.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspect.log deleted file mode 100644 index 5baa7ef14d2bf015f9b149dbf04c519a4b6c897c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspect.log +++ /dev/null @@ -1 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/inspection/inspection.json diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspect_command.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspect_command.json deleted file mode 100644 index 4572fb586a180e736c285910c3df2929238adf87..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspect_command.json +++ /dev/null @@ -1,15 +0,0 @@ -[ - "/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_225524_803572", - "--window", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/phystwin_window.yaml", - "--frame-association", - "anchor_nearest", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/inspection", - "--sample-t", - "0" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspection/frames.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspection/frames.npz deleted file mode 100644 index 8f150365d8d07c9478ab2c6a05fd672712f69a14..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:937421bf435a83f6991320857db3f832e154e29555ab2977321b3914bdb0c982 -size 77312 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspection/inspection.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspection/inspection.json deleted file mode 100644 index 0c5d7ab7b79ffb69eba28f76a2efb730702cca20..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/inspection/inspection.json +++ /dev/null @@ -1,344 +0,0 @@ -{ - 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"2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5" - } - }, - "samples": [ - { - "t": 0, - "serial": "12540311", - "converted_frame_index": 426, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 4787 - }, - "depth_zero_fraction": 0.03697386188271605, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.289, - 1.298, - 4.787 - ] - }, - { - "t": 0, - "serial": "12933256", - "converted_frame_index": 426, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 6431 - }, - "depth_zero_fraction": 0.030962577160493828, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.5710000000000001, - 1.158, - 6.431 - ] - }, - { - "t": 0, - "serial": "17736741", - "converted_frame_index": 426, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 3738 - }, - "depth_zero_fraction": 0.014659047067901235, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.581, - 1.147, - 3.738 - ] - }, - { - "t": 0, - "serial": "23007103", - "converted_frame_index": 426, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 4355 - }, - "depth_zero_fraction": 0.03919704861111111, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.48, - 1.053, - 4.355 - ] - } - ] -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/hand_A/run0001_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/hand_A/run0001_t0000-0302.npz deleted file mode 100644 index def47d95dde3442f56d654472a65580be71b29ee..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/hand_A/run0001_t0000-0302.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:dac8457aa034c5050215bbaf6284f118f424f754188554aca353d06d3240d456 -size 304587 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/hand_B/run0001_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/hand_B/run0001_t0000-0302.npz deleted file mode 100644 index 30f0015ad111c1b550110f77d6e9cd5a6c73bc03..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/hand_B/run0001_t0000-0302.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:04631ace0f1bdb8ba7db356d27f7f965a91d3491f9a110cfa764e10efb09e594 -size 79034 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/object/run0001_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/object/run0001_t0000-0302.npz deleted file mode 100644 index 89d6b18ce953502b18277899f320170af6eb283d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/object/run0001_t0000-0302.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e9ee19d0f7d598ecfbb0af3e4a38ac4e472a47296e3ac652ed7402eee371a60e -size 453214 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/occluder/run0001_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/occluder/run0001_t0000-0302.npz deleted file mode 100644 index 3b0ca3a2de1b641aa1c90024f6209e749e38345a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/occluder/run0001_t0000-0302.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d1c79322c838d9aa05336a81cbb094f600ac44bbb30c52c3d49e1b3c62ec5565 -size 1481572 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/occluder/run0002_t0000-0302.npz b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/occluder/run0002_t0000-0302.npz deleted file mode 100644 index a102f219d40e2595789c95990528c899626b5ed6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/masks/23007103/occluder/run0002_t0000-0302.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b946fd1e59b9ed2b6e1a098919afe257cdc95028c11448fa56542abd195ad3d1 -size 1346477 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/phystwin_window.yaml b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/phystwin_window.yaml deleted file mode 100644 index 4c56ae6956bd87629605a99494cdbadf1d1e87d6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/phystwin_window.yaml +++ /dev/null @@ -1,90 +0,0 @@ -schema_version: 1 -kind: phystwin_interaction_window -session: - path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572 - session_id: session_20260921_225524_803572 -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_225524_803572 - --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: '23007103' - anchor_stream_id: zed_23007103_left_rgb - timestamp_unit: ns - timestamp_reference: sync_time_ns - period_ns_estimate: 33440992 - fps_estimate: 29.903419 -manual_annotation: - start_global_timestamp_ns: 1790045765963424329 - end_global_timestamp_ns: 1790045776065248182 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: taped round belt - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Hand_A fingertips reach and curl around one end of the loop (end - nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop - end from 412; 12933256 fingertips still visibly above the loop at 416-420, at - loop level from ~422-426). 428 is inside the confirmed-contact region and was - chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) - while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), - off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; - at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop - end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last - frame before release. -resolved_window: - start_sync_index: 425 - end_sync_index_exclusive: 727 - start_anchor_timestamp_ns: 1790045765963424329 - end_anchor_timestamp_ns: 1790045776065248182 - frame_count: 302 - duration_s: 10.101824 -per_camera_resolution: - '12540311': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765954713038 - end_source_timestamp_ns: 1790045776056590698 - start_delta_ns: -8711291 - end_delta_ns: -8657484 - '12933256': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765972930174 - end_source_timestamp_ns: 1790045776074289334 - start_delta_ns: 9505845 - end_delta_ns: 9041152 - '17736741': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765971059190 - end_source_timestamp_ns: 1790045776069408716 - start_delta_ns: 7634861 - end_delta_ns: 4160534 - '23007103': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765963424329 - end_source_timestamp_ns: 1790045776065248182 - start_delta_ns: 0 - end_delta_ns: 0 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 9505845 - warnings: [] -created_by: manual -created_at: '2026-10-27T19:19:33+00:00' -updated_at: '2026-10-27T19:19:33+00:00' - diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v1.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v1.log deleted file mode 100644 index b334edce4dec9154bc3f38ae2ca6dd580911975c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -23007103/occluder t=0: 234906 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/correction_preview_c6a_accessory_sparse_v1/23007103/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v1_argv.json deleted file mode 100644 index bf258c2e26e3bea349b851555ba85c15f8fdbb38..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v1_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/proposal_occluder_accessory_c6a_sparse_v1.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/correction_preview_c6a_accessory_sparse_v1", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v1_result.json deleted file mode 100644 index fff2030d7f658b60b5f2be79d1f031d3ba553c69..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 9.00344967842102, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v2.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v2.log deleted file mode 100644 index 1f1acc8368fb0c045eadd2518169f9a98df08e9f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v2.log +++ /dev/null @@ -1 +0,0 @@ -23007103/occluder t=0: 236030 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/correction_preview_c6a_accessory_sparse_v2/23007103/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v2_argv.json deleted file mode 100644 index 7911f782ac6d6009186917d899edef4566d7e765..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v2_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - 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"--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v2_result.json deleted file mode 100644 index c7d088c2732881abe4d2370907b2f512df10313e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_accessory_sparse_v2_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 8.617589712142944, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_v2.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_v2.log deleted file mode 100644 index bcbc01ad8d406b67dead6e27b4f6eed62805c780..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_v2.log +++ /dev/null @@ -1 +0,0 @@ -23007103/occluder t=0: 230880 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/correction_preview_c6a_v2/23007103/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_v2_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_v2_argv.json deleted file mode 100644 index 2a80c2a03b02fc90dbd9c41df74ca11e5fc8f295..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_v2_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - 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"--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_v2_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_v2_result.json deleted file mode 100644 index cb5c731d1ff67055b447e011a439efe31cbb8b3e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/preview_c6a_v2_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 9.801624536514282, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propagate_23007103_occluder_c6a_v2.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propagate_23007103_occluder_c6a_v2.log deleted file mode 100644 index 9836641c67b204e1ffc8ac1c7ca16f95a01defdb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propagate_23007103_occluder_c6a_v2.log +++ /dev/null @@ -1,3 +0,0 @@ - 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"--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_result.json deleted file mode 100644 index 8dd06e058354812357ba75b232c36f24577b06d9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_result.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 13.804913759231567, - "started_unix": 1793129579.1054385, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_v2.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_v2.log deleted file mode 100644 index 4fbb64519fcb8f74bdb9d06a22ee99c2312fea3d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_v2.log +++ /dev/null @@ -1 +0,0 @@ -23007103/occluder t=0: 230880 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/correction_overlays_c6a_v2/23007103/occluder_t0000.png diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_v2_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_v2_argv.json deleted file mode 100644 index 2bd78819a5cbe6e9e17a0ece637212f6f6effa09..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_v2_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - 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"--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_v2_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_v2_result.json deleted file mode 100644 index 12b4228be22b8655eee808278243adbfc2cd3109..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/propose_c6a_v2_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 8.598549127578735, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/recovery2_admission.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/recovery2_admission.json deleted file mode 100644 index 9ba83d588e9a71706ce7de34ae898e32e41beef4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/recovery2_admission.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "completed_before_resume": [ - { - "serial": "23007103", - "role": "object", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "23007103", - "role": "hand_A", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "23007103", - "role": "hand_B", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "23007103", - "role": "occluder", - "supplier_runs": [ - 2 - ] - } - ], - "full_current_mask_admission": true, - "owner_accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/recovery_admission.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/recovery_admission.json deleted file mode 100644 index 4b455fa2e164bbaad7fe714acf42c1d29c797fb3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/recovery_admission.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "completed_before_resume": [ - { - "serial": "23007103", - "role": "object", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "23007103", - "role": "hand_A", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "23007103", - "role": "hand_B", - "supplier_runs": [ - 1 - ] - }, - { - "serial": "23007103", - "role": "occluder", - "supplier_runs": [ - 1 - ] - } - ], - "full_current_mask_admission": true, - "owner_accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review-media_c6a.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review-media_c6a.log deleted file mode 100644 index 24bad9ea79dd685eac06111c61bae98dd9af7b46..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review-media_c6a.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v1 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review-media_c6a_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review-media_c6a_argv.json deleted file mode 100644 index 32743a14a9625ce8437a375208a1980551ceae3e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review-media_c6a_argv.json +++ /dev/null @@ -1,27 +0,0 @@ -[ - "/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_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v1", - "--view", - "23007103", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "226", - "--t", - "301" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review-media_c6a_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review-media_c6a_result.json deleted file mode 100644 index d18656d967a27e9241375d237beb7e47c95663ea..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review-media_c6a_result.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 53.27187180519104, - "started_unix": 1793129701.33971, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review_c6a_v2.log b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review_c6a_v2.log deleted file mode 100644 index b8c81b4ddca39f1b38335a33f1f943c8fe822330..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review_c6a_v2.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v2 diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review_c6a_v2_argv.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review_c6a_v2_argv.json deleted file mode 100644 index ec274b09b5d3e2c2bef58b0f051edd78208da1cb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review_c6a_v2_argv.json +++ /dev/null @@ -1,27 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_real_rgbd.py", - "review-media", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/review_media_c6a_v2", - "--view", - "23007103", - "--t", - "0", - "--t", - "75", - "--t", - "151", - "--t", - "226", - "--t", - "301" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review_c6a_v2_result.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review_c6a_v2_result.json deleted file mode 100644 index 23b00de1dca9a5cf1b58f2e465a41a9b43d999cc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/review_c6a_v2_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 48.58301329612732, - "accepted": false -} diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/window_command.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/window_command.json deleted file mode 100644 index e268f306876285fe69a35550b5b67409f272ec6f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/cameras/23007103/window_command.json +++ /dev/null @@ -1,22 +0,0 @@ -[ - "/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_225524_803572", - "--anchor-serial", - "23007103", - "--start-timestamp-ns", - "1790045765963424329", - "--end-timestamp-ns", - "1790045776065248182", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "taped round belt", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Hand_A fingertips reach and curl around one end of the loop (end nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop end from 412; 12933256 fingertips still visibly above the loop at 416-420, at loop level from ~422-426). 428 is inside the confirmed-contact region and was chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last frame before release.", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/cameras/23007103/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/phystwin_window.yaml b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/phystwin_window.yaml deleted file mode 100644 index 98b4b4dea7681d7db12db485275a73d03cd68337..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/phystwin_window.yaml +++ /dev/null @@ -1,91 +0,0 @@ -schema_version: 1 -kind: phystwin_interaction_window -session: - path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225524_803572 - session_id: session_20260921_225524_803572 -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_225524_803572 - --sensor-types zed - timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the - current integer-nanosecond timestamp at the desired start/end moments. - notes: '' -timebase: - policy: native_anchor_overlap - sync_policy: AnchorStreamSyncPolicy - overlap: true - anchor_serial: '12540311' - anchor_stream_id: zed_12540311_left_rgb - timestamp_unit: ns - timestamp_reference: sync_time_ns - period_ns_estimate: 33440407 - fps_estimate: 29.903942 -manual_annotation: - start_global_timestamp_ns: 1790045765954713038 - end_global_timestamp_ns: 1790045776056590698 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: taped round belt - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Hand_A fingertips reach and curl around one end of the loop (end - nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop - end from 412; 12933256 fingertips still visibly above the loop at 416-420, at - loop level from ~422-426). 428 is inside the confirmed-contact region and was - chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) - while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), - off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; - at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop - end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last - frame before release. -resolved_window: - start_sync_index: 425 - end_sync_index_exclusive: 727 - start_anchor_timestamp_ns: 1790045765954713038 - end_anchor_timestamp_ns: 1790045776056590698 - frame_count: 302 - duration_s: 10.101878 -per_camera_resolution: - '12540311': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765954713038 - end_source_timestamp_ns: 1790045776056590698 - start_delta_ns: 0 - end_delta_ns: 0 - '12933256': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 727 - start_source_timestamp_ns: 1790045765941847322 - end_source_timestamp_ns: 1790045776039530890 - start_delta_ns: -12865716 - end_delta_ns: -17059808 - '17736741': - start_source_frame_index: 425 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765940627217 - end_source_timestamp_ns: 1790045776069408716 - start_delta_ns: -14085821 - end_delta_ns: 12818018 - '23007103': - start_source_frame_index: 426 - end_source_frame_index_exclusive: 728 - start_source_timestamp_ns: 1790045765963424329 - end_source_timestamp_ns: 1790045776065248182 - start_delta_ns: 8711291 - end_delta_ns: 8657484 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 17059808 - warnings: - - '12933256: end camera delta -17059808 ns exceeds half period 16720203 ns' -created_by: manual -created_at: '2026-10-27T19:17:46+00:00' -updated_at: '2026-10-27T19:17:46+00:00' - diff --git a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/window_command.json b/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/window_command.json deleted file mode 100644 index c05b2188d2a2a14e5d89eb8bf2cad028a33e6aae..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/mask-supplier-window-anchor0426-0727/native/window_command.json +++ /dev/null @@ -1,22 +0,0 @@ -[ - "/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_225524_803572", - "--anchor-serial", - "12540311", - "--start-timestamp-ns", - "1790045765954713038", - "--end-timestamp-ns", - "1790045776056590698", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "taped round belt", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Hand_A fingertips reach and curl around one end of the loop (end nearest the person) by anchor ~420-426 (12540311 fingers overlap/occlude the loop end from 412; 12933256 fingertips still visibly above the loop at 416-420, at loop level from ~422-426). 428 is inside the confirmed-contact region and was chosen over 426 only because 426-727 resolves to 303 frames in 17736741 (not accepted) while 428-727 is accepted. Same grip on the same end from 428 through lift (~510-560), off-table carry (~560-680), set-down (~685-700) and hold on the table until 727; at 728 the fingers open and the hand rises (12933256 727-729 hand lifts off loop end; 12540311 728-733 fingers straighten and sweep over the loop end). 727 = last frame before release.", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225524_803572/window_anchor0426-0727/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/colors/color_summary.json b/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/colors/color_summary.json deleted file mode 100644 index 778878d488c52087b8af6826b64c8a2a7728cd6f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/colors/color_summary.json +++ /dev/null @@ -1,49 +0,0 @@ -{ - "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views", - "two_sided": false, - "depth_tolerance_m": 0.025, - "first_hit_tolerance_m": 0.0002, - "per_view": [ - { - "view": 0, - "serial": "12540311", - "observed_vertices": 342, - "projected_inside": 864, - "first_hit": 463 - }, - { - "view": 1, - "serial": "12933256", - "observed_vertices": 354, - "projected_inside": 864, - "first_hit": 459 - }, - { - "view": 2, - "serial": "17736741", - "observed_vertices": 350, - "projected_inside": 864, - "first_hit": 452 - }, - { - "view": 3, - "serial": "23007103", - "observed_vertices": 351, - "projected_inside": 864, - "first_hit": 457 - } - ], - "observed_vertices": 610, - "filled_vertices": 254, - "fill_color_rgb": [ - 0.643247625153812, - 0.2897623262313128, - 0.08164793391050855 - ], - "glb_roundtrip": { - "float32_positions_exact": true, - "vertex_colors_exact": true, - "uv_count": 0, - "vertex_reordered_on_open3d_load": true - } -} \ No newline at end of file diff --git a/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/colors/vertex_colors.npz b/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/colors/vertex_colors.npz deleted file mode 100644 index 8d5d738d91ebd529dac834b3b6750c0b2e695bdb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/colors/vertex_colors.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:18f16b2b813f8bff31763236f6c461ec37c9c6b86335a2f649712b3b66fd017b -size 28680 diff --git a/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/hybrid/populations.npz b/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/hybrid/populations.npz deleted file mode 100644 index 4c293c691942c998484838c857b0c9b77c6c69c4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/hybrid/populations.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:571b744ac6cb3d53fda0b24bc509c9d28b297eac21db90891f25dca4baae5c42 -size 2631422 diff --git a/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/inputs/depth_offset_diagnostic.json b/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/inputs/depth_offset_diagnostic.json deleted file mode 100644 index 95c294c06ce15e03bfb3239409c29db31f4f3103..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225524_803572/preprocessing/orange-belt-prior-v1/native/inputs/depth_offset_diagnostic.json +++ /dev/null @@ -1,90 +0,0 @@ -{ - "annulus_px": [ - 20, - 80 - ], - "interior_erosion_px": 2, - "correction_applied": false, - "views": [ - { - "view": 0, - "serial": "12540311", - "annulus_count": 75407, - "belt_interior_count": 3976, - 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diff --git a/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/README.md b/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/README.md deleted file mode 100644 index 90fcf1a2475ae0139afbd758e6f3d2eed7d2d01f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/README.md +++ /dev/null @@ -1,56 +0,0 @@ -# RP3-TRAIN: selected spline prior, source Gaussian appearance - -Executed once on 2026-09-27 (local RTX 4090) from implementation commit -`be7f6c5f`, using U PhysTwin `81c71879`, Python 3.10, Torch 2.4.0+cu121, -gsplat 1.4.0, and the selected RP2 weight-4 prior manifest -`322d265118068cb2220dc7ee2ae8c438b09f876e2559ab2ec87ca8c5928e0277`. -The older `appearance_20260925/` package was not read. The accepted prior -manifest and GLB hashes remain unchanged. - -U's `gs_train.py` ran its unchanged 10,000 iterations with the `gs_run.sh` -training flags (depth .001, normal 0, anisotropic 0, segmentation 1, -`--use_masks --isotropic --gs_init_opt hybrid`) plus `--disable_viewer`. -Exactly two runtime adaptations are recorded beside `model/cfg_args`: -`model/override_loader.py` reads native 1920×1080 size from camera metadata, -and `model/override_depth.py` applies Q5/S-H2 stored-depth validity and the -2 px inside-object boundary band. `run_record.json` binds the manifest, -source flags, U pin and fused-ssim import/probe (identical RGB SSIM = 1.0). -`stdout.log` retains the progress trace. - -The loader initialized 13,755 observed and 51,840 vertex-colour mesh samples -(65,595 total); both `model/input.ply` and the private case's `points3D.ply` -contain 65,595 points. The 7k and 10k PLYs are in `model/point_cloud/`: -61,632 and 61,994 Gaussians respectively, each with one isotropic log-scale -column. U's strict opacity >0.1 export filter retains 52,496 at 7k and -52,527 at 10k. At 10k the retained scale p05/median/p95 and opacity -p05/median/p95 are in `review/summary.json`. - -## Review - -- `review/iteration_{0,7000,10000}/view_{0,1,2,3}.npz`: raw rendered - RGBA+expected depth, recorded K/world-to-camera, raw RGB/depth and masks. - Matching `view_*_sheet.png` files show observed/rendered RGB, object - mask/rendered alpha, stored/rendered depth and RGB residual. -- `review/curves.json` and `review/loss_curves.png`: U TensorBoard scalar - history. The mean four-view source objective of the retained renders is - 0.007464 initially, 0.000314 at 7k, and 0.000306 at 10k. These use - unfiltered initialization and strict >0.1 filtered trained appearances. -- `review/novel_view.mp4` and `review/novel_frames/`: 200 poses from the - recorded `interp_poses.pkl`, displayed at 960×540/20 fps for inspection. -- `review/cross_version/report.json` plus per-view native arrays: exact - post-prune appearance rendered in U gsplat 1.4 and native gsplat 1.5.3 - from the same arrays/cameras. The largest four-view full-image RGB mean - absolute difference is `7.62e-11`; object-region RGB differences are - `1.70e-8`–`1.76e-8`; full-image alpha differences are at most `1.32e-11`, - expected-depth differences at most `2.78e-10 m`, and active-loss term - differences at most `2.63e-11`. Full/object/silhouette-band and per-term - values are all in the report. - -On pixels inside the accepted object mask and outside processed occlusion, -the final rendered alpha mean is 0.991–0.995 and 99.7–100.0% of pixels -exceed alpha 0.5 across the four views. Outside both the object mask and -processed occlusion, 16/33/50/108 pixels exceed alpha 0.5. The final -sheets show small tip artifacts and a noisy patch near the lower hand -occlusion in view 1. The novel view preserves the overall loop but shows -the grip-region gaps expected from the partial observations. 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--git a/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/review_stdout.log b/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/review_stdout.log deleted file mode 100644 index 648999a90894a8366972e2db2ffd30dc2bbb8061..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/review_stdout.log +++ /dev/null @@ -1,29 +0,0 @@ -Found metadata.json file, assuming customized QQTT dataset! [27/09 14:57:52] -Init points from pcd... [27/09 14:57:52] -Init points from mesh... [27/09 14:57:52] -Loading Training Cameras [27/09 14:57:53] -Loading Test Cameras [27/09 14:57:53] -Number of points at initialisation : 65595 [27/09 14:57:53] -Sampling 100000 points from mesh [27/09 14:57:53] -Loading trained model at iteration 7000 [27/09 14:57:55] [27/09 14:57:55] -Found metadata.json file, assuming customized QQTT dataset! [27/09 14:57:55] [27/09 14:57:55] -Init points from pcd... [27/09 14:57:55] [27/09 14:57:55] -Init points from mesh... [27/09 14:57:55] [27/09 14:57:55] -Loading Training Cameras [27/09 14:57:55] [27/09 14:57:55] -Loading Test Cameras [27/09 14:57:55] [27/09 14:57:55] -Sampling 100000 points from mesh [27/09 14:57:55] [27/09 14:57:55] -Loading trained model at iteration 10000 [27/09 14:57:57] [27/09 14:57:57] [27/09 14:57:57] -Found metadata.json file, assuming customized QQTT dataset! [27/09 14:57:57] [27/09 14:57:57] [27/09 14:57:57] -Init points from pcd... [27/09 14:57:57] [27/09 14:57:57] [27/09 14:57:57] -Init points from mesh... [27/09 14:57:57] [27/09 14:57:57] [27/09 14:57:57] -Loading Training Cameras [27/09 14:57:57] [27/09 14:57:57] [27/09 14:57:57] -Loading Test Cameras [27/09 14:57:57] [27/09 14:57:57] [27/09 14:57:57] -Sampling 100000 points from mesh [27/09 14:57:57] [27/09 14:57:57] [27/09 14:57:57] -{ - "snapshots": [ - "0", - "7000", - "10000" - ], - "review": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_rp3_train_20260927/review" -} [27/09 14:58:03] [27/09 14:58:03] [27/09 14:58:03] diff --git a/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/run_record.json b/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/run_record.json deleted file mode 100644 index 5ba0a8829ed880aed0c349c2118466fed4351bb1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/run_record.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "kind": "rp3_static_appearance_v1", - "mode": "train", - "prior": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927", - "prior_manifest_sha256": "322d265118068cb2220dc7ee2ae8c438b09f876e2559ab2ec87ca8c5928e0277", - "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f", - "source_script": "third_party/phystwin_original/gs_train.py", - "source_flags": [ - "-s", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_rp3_train_20260927/input_case/session_20260921_225630_786148", - "-m", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_rp3_train_20260927/model", - "--iterations", - "10000", - "--lambda_depth", - "0.001", - "--lambda_normal", - "0.0", - "--lambda_anisotropic", - "0.0", - "--lambda_seg", - "1.0", - "--use_masks", - "--isotropic", - "--gs_init_opt", - "hybrid", - "--disable_viewer" - ], - "runtime_overrides": [ - "native_loader_size", - "q5_sh2_depth_loss" - ], - "torch": "2.4.0+cu121", - "fused_ssim_probe": { - "module_file": "/mnt/data0/magna/belt_perception_wt_rp3_gaussian_appearance_20260927/scripts/real_rgbd_gs_train_env/.venv/lib/python3.10/site-packages/fused_ssim/__init__.py", - "identical_rgb_ssim": 1.0 - } -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/stdout.log b/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/stdout.log deleted file mode 100644 index ff355b6837508a84cc6bbe20671d7d015f949b61..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/appearance-rp3-20260927/native/stdout.log +++ /dev/null @@ -1,16 +0,0 @@ -Optimizing /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_rp3_train_20260927/model -Output folder: /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_rp3_train_20260927/model [27/09 14:50:03] -Found metadata.json file, assuming customized QQTT dataset! [27/09 14:50:03] -Init points from pcd... [27/09 14:50:03] -Init points from mesh... [27/09 14:50:03] -Loading Training Cameras [27/09 14:50:03] -Loading Test Cameras [27/09 14:50:03] -Number of points at initialisation : 65595 [27/09 14:50:04] -Sampling 100000 points from mesh [27/09 14:50:04] - Training progress: 0%| | 0/10000 [00:00 float64 metres", - "masks": "same exact accepted initial O/hand_A/hand_B/person supplier runs; no mask changes", - "coordinates": "same native 1920x1080 pixels under already recorded owner approximation; no warp or recalibration" - }, - "inputs": { - "background_inventory": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_inputs.json", - "old_rgb_assets": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_coverage_black_fill_approved", - "old_observed_count_masks": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_coverage_final", - "reference_boxes": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/probe_04_black_fill/measurements", - "depth_sync_report": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/waft_sync_20261009", - "synced_remote_revision": "f17bb8786eccd75fa671ce346d4a202bca5b5bc5" - }, - "recipe": { - "observed_depth": "per-pixel median of actual valid unexcluded donor depth; even count averages central raw millimetre values", - "spread": "max-min over those actual admitted donor samples; NaN where no sample", - "fill": "arithmetic mean of16 nearest originally observed background-median pixels by Euclidean native-pixel distance, scipy cKDTree, one worker, no iterative propagation", - "rgb": "change ONLY original2247 zero-count pixels in12540311; original other RGB values bit-exact", - "depth": "fill only saved original unobserved depth pixels after expanded distant-border extent disclosure; original observed medians bit-exact", - "validity": "zero observation counts remain zero; fill masks and exact neighbor coordinates/distances kept separately; imputed values are not admitted geometry" - }, - "original_depth_coverage": { - "views": [ - { - "serial": "12540311", - "total_native_pixels": 2073600, - "depth_holes": 85476, - "depth_hole_fraction": 0.041221064814814815, - "depth_holes_bbox_xyxy": [ - 0, - 0, - 1810, - 1079 - ], - "original_rgb_holes": 2247, - "new_depth_holes": 83229, - "new_depth_holes_bbox_xyxy": [ - 0, - 0, - 109, - 1079 - ], - "sample_count_histogram": [ - 85476, - 2922, - 3590, - 12541, - 59526, - 1909545 - ], - "valid_spread_range_m_quantiles": [ - 0.0, - 0.004, - 0.052000000000000005, - 0.268, - 6.518 - ], - "flags": [ - "depth holes extend beyond the originally approved RGB hole mask; new extent is reported, no fill yet" - ] - }, - { - "serial": "12933256", - "total_native_pixels": 2073600, - "depth_holes": 43628, - "depth_hole_fraction": 0.02103973765432099, - "depth_holes_bbox_xyxy": [ - 0, - 0, - 71, - 1079 - ], - "original_rgb_holes": 0, - "new_depth_holes": 43628, - "new_depth_holes_bbox_xyxy": [ - 0, - 0, - 71, - 1079 - ], - "sample_count_histogram": [ - 43628, - 388, - 802, - 5126, - 32561, - 1991095 - ], - "valid_spread_range_m_quantiles": [ - 0.0, - 0.003, - 0.069, - 0.618, - 5.776 - ], - "flags": [ - "depth holes extend beyond the originally approved RGB hole mask; new extent is reported, no fill yet" - ] - }, - { - "serial": "17736741", - "total_native_pixels": 2073600, - "depth_holes": 59194, - "depth_hole_fraction": 0.028546489197530864, - "depth_holes_bbox_xyxy": [ - 0, - 0, - 89, - 1079 - ], - "original_rgb_holes": 0, - "new_depth_holes": 59194, - "new_depth_holes_bbox_xyxy": [ - 0, - 0, - 89, - 1079 - ], - "sample_count_histogram": [ - 59194, - 189, - 347, - 4785, - 40499, - 1968586 - ], - "valid_spread_range_m_quantiles": [ - 0.0, - 0.003, - 0.036000000000000004, - 0.107, - 3.2840000000000003 - ], - "flags": [ - "depth holes extend beyond the originally approved RGB hole mask; new extent is reported, no fill yet" - ] - }, - { - "serial": "23007103", - "total_native_pixels": 2073600, - "depth_holes": 164256, - "depth_hole_fraction": 0.07921296296296296, - "depth_holes_bbox_xyxy": [ - 0, - 0, - 258, - 1079 - ], - "original_rgb_holes": 0, - "new_depth_holes": 164256, - "new_depth_holes_bbox_xyxy": [ - 0, - 0, - 258, - 1079 - ], - "sample_count_histogram": [ - 164256, - 338, - 447, - 3844, - 23597, - 1881118 - ], - "valid_spread_range_m_quantiles": [ - 0.0, - 0.004, - 0.075, - 0.603, - 6.406 - ], - "flags": [ - "depth holes extend beyond the originally approved RGB hole mask; new extent is reported, no fill yet" - ] - } - ], - "provider": "WAFT-Stereo SynLarge DAv2L-5 only", - "validity": "0 < raw uint16 < 8191; stored millimetres -> float64 metres", - "aggregation": "observed-only per-pixel donor median outside accepted O/hands/person; spread=max-min over those samples", - "depth_filled": false, - "runtime_adoption": false - }, - "filled_depth": { - "recipe": "16 nearest original observed median-depth pixels, Euclidean native distance, arithmetic mean; no filled value becomes an observation", - "views": [ - { - "serial": "12540311", - "filled_pixels": 85476, - "observed_depth_bit_exact": true, - "neighbor_distance_px_quantiles": [ - 1.0, - 36.76955262170047, - 93.08598175880189, - 111.0 - ] - }, - { - "serial": "12933256", - "filled_pixels": 43628, - "observed_depth_bit_exact": true, - "neighbor_distance_px_quantiles": [ - 1.0, - 17.26267650163207, - 41.012193308819754, - 55.54277630799526 - ] - }, - { - "serial": "17736741", - "filled_pixels": 59194, - "observed_depth_bit_exact": true, - "neighbor_distance_px_quantiles": [ - 1.0, - 27.0, - 73.00684899377592, - 91.00549433962765 - ] - }, - { - "serial": "23007103", - "filled_pixels": 164256, - "observed_depth_bit_exact": true, - "neighbor_distance_px_quantiles": [ - 1.0, - 66.48308055437865, - 201.96101026660494, - 256.12496949731394 - ] - } - ], - "runtime_adoption": false - }, - "rgb": { - "recipe": "16 nearest original observed background-median pixels, Euclidean native-pixel distance, arithmetic mean; no iterative propagation", - "views": [ - { - "serial": "12540311", - "filled_pixels": 2247, - "original_bbox_xyxy": [ - 1735, - 97, - 1810, - 160 - ], - "observed_rgb_bit_exact": true, - "maximum_neighbor_distance_px": 19.026297590440446 - }, - { - "serial": "12933256", - "filled_pixels": 0, - "original_bbox_xyxy": null, - "observed_rgb_bit_exact": true, - "maximum_neighbor_distance_px": 0 - }, - { - "serial": "17736741", - "filled_pixels": 0, - "original_bbox_xyxy": null, - "observed_rgb_bit_exact": true, - "maximum_neighbor_distance_px": 0 - }, - { - "serial": "23007103", - "filled_pixels": 0, - "original_bbox_xyxy": null, - "observed_rgb_bit_exact": true, - "maximum_neighbor_distance_px": 0 - } - ] - }, - "union_of_reference_boxes": { - "definition": "max-min donor depth among actual valid unexcluded samples; union of all five unchanged reference boxes, each pixel counted once", - "views": [ - { - "serial": "12540311", - "union_box_pixels": 314920, - "union_box_holes": 0, - "donor_spread_median_mm": 2.0, - "donor_spread_p95_mm": 5.0, - "donor_spread_max_mm": 1107.0 - }, - { - "serial": "12933256", - "union_box_pixels": 272749, - "union_box_holes": 0, - "donor_spread_median_mm": 2.0, - "donor_spread_p95_mm": 10.0, - "donor_spread_max_mm": 2847.0 - }, - { - "serial": "17736741", - "union_box_pixels": 297469, - "union_box_holes": 0, - "donor_spread_median_mm": 3.0, - "donor_spread_p95_mm": 5.0, - "donor_spread_max_mm": 1150.0000000000002 - }, - { - "serial": "23007103", - "union_box_pixels": 212920, - "union_box_holes": 0, - "donor_spread_median_mm": 2.0, - "donor_spread_p95_mm": 29.0, - "donor_spread_max_mm": 2234.0 - } - ] - }, - "validation": { - "known_answer_checks": "0/raw8191 excluded, raw8190 admitted, mm-to-m conversion, known medians and ranges, original-only neighbor means", - "saved_asset_checks": "all count sums reproduced; all original observed depth/RGB bit-exact; every fill equals mean of its16 saved original-valid neighbors; all filled arrays finite; zero samples/measurement validity preserved", - "all20_fixed_boxes_unfilled": true, - "renderer_runtime_or_weight_changes": false, - "gpu_seconds": 0 - }, - "limitations": [ - "Depth holes expand from originalRGB2247 to352554 full pixels; all are at least480.02px from all20 reference boxes, and all20 boxes contain zero filled pixels.", - "Typical ROI donor spread is2-3mm median and5-29mm p95, but rare ROI maxima reach1.107-2.847m; outlier disagreement is retained, not silently filtered.", - "Nearest-neighbor mean is a declared approximation across scene depth discontinuities, with neighbor reach up to256.125px for23007103.", - "WAFT acquisition_time_ns aliases host sync time; accepted RGB acquisition time is retained, with preserved sync/device/official/native capture identities and the WAFT field reported separately.", - "No new GPU inference, objective calibration, probe, recursion, physics, source mask or shared code changes." - ], - "previews": [ - "rgb/original_hole_before_after.png", - "rgb/all_views_rgb.png", - "depth/all_views_holes_and_fixed_boxes_rgb.png", - "depth/all_views_observed_depth_0_8p191m.png", - "depth/all_views_filled_depth_0p5_1p5m.png", - "depth//observed_vs_filled_depth_0p5_1p5m.png" - ], - "scripts": [ - "build_background_assets.py", - "supplement_coverage_review.py", - "finalize_review.py" - ], - "stages": [ - "build_background_assets.py checks", - "build_background_assets.py rgb", - "build_background_assets.py inspect-depth", - "supplement_coverage_review.py", - "build_background_assets.py fill-depth", - "finalize_review.py" - ], - "measured_stage_resources": { - "rgb": { - "wall_seconds": 4.098760094027966, - "peak_rss_gib": 0.3650360107421875, - "gpu_seconds": 0 - }, - "inspect-depth": { - "wall_seconds": 22.265723024029285, - "peak_rss_gib": 1.8988609313964844, - "gpu_seconds": 0 - }, - "fill-depth": { - "wall_seconds": 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metres", - "aggregation": "observed-only per-pixel donor median outside accepted O/hands/person; spread=max-min over those samples", - "depth_filled": false, - "runtime_adoption": false -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/coverage_scope.json b/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/coverage_scope.json deleted file mode 100644 index f4c44cddd6939cf112ce02628ffad609a31a6d3c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/coverage_scope.json +++ /dev/null @@ -1,23 +0,0 @@ -{ - "depth_holes_extend_beyond_original_rgb_holes": true, - "classification": "left stereo-border gaps and original distant person-exclusion hole; no holes enter any reference box", - "views": [ - { - "serial": "12540311", - "minimum_hole_distance_to_any_box_px": 480.01666637732484 - }, - { - "serial": "12933256", - "minimum_hole_distance_to_any_box_px": 614.239367022336 - }, - { - "serial": "17736741", - "minimum_hole_distance_to_any_box_px": 652.754165057566 - }, - { - "serial": "23007103", - "minimum_hole_distance_to_any_box_px": 647.6557727682198 - } - ], - "depth_fill_pending": true -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/fill_report.json b/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/fill_report.json deleted file mode 100644 index 19278243e2ea8ff5996fa8c6a8e91cff98520a4f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/fill_report.json +++ /dev/null @@ -1,50 +0,0 @@ -{ - "recipe": "16 nearest original observed median-depth pixels, Euclidean native distance, arithmetic mean; no filled value becomes an observation", - "views": [ - { - "serial": "12540311", - "filled_pixels": 85476, - "observed_depth_bit_exact": true, - "neighbor_distance_px_quantiles": [ - 1.0, - 36.76955262170047, - 93.08598175880189, - 111.0 - ] - }, - { - "serial": "12933256", - "filled_pixels": 43628, - "observed_depth_bit_exact": true, - "neighbor_distance_px_quantiles": [ - 1.0, - 17.26267650163207, - 41.012193308819754, - 55.54277630799526 - ] - }, - { - "serial": "17736741", - "filled_pixels": 59194, - "observed_depth_bit_exact": true, - "neighbor_distance_px_quantiles": [ - 1.0, - 27.0, - 73.00684899377592, - 91.00549433962765 - ] - }, - { - "serial": "23007103", - "filled_pixels": 164256, - "observed_depth_bit_exact": true, - "neighbor_distance_px_quantiles": [ - 1.0, - 66.48308055437865, - 201.96101026660494, - 256.12496949731394 - ] - } - ], - "runtime_adoption": false -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/fixed_box_depth_statistics.csv b/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/fixed_box_depth_statistics.csv deleted file mode 100644 index 776723645df18922388083741e4dc71d3cd72508..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/fixed_box_depth_statistics.csv +++ /dev/null @@ -1,21 +0,0 @@ -endpoint,serial,fixed_box_holes,minimum_hole_distance_to_fixed_box_px,median_background_depth_m,donor_spread_p50_mm,donor_spread_p95_mm,donor_spread_p99_mm,donor_spread_max_mm -1,12540311,0,591.068523946251,1.135,2.0,3.0,4.0,6.0 -123,12540311,0,494.08197700381663,1.203,2.0,4.0,5.0,8.0 -246,12540311,0,559.2584375760458,1.18,2.0,14.0,29.0,1107.0 -368,12540311,0,525.2751659844581,1.176,2.0,5.0,21.0,1090.0 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a/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/fixed_box_holes.csv b/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/fixed_box_holes.csv deleted file mode 100644 index 67b48cbc245e0ab97f48b2abec6da64053b7ced1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/background-rgbd-neighbor-review-01/native/depth/fixed_box_holes.csv +++ /dev/null @@ -1,21 +0,0 @@ -endpoint,serial,full_depth_holes,fixed_box_y0_y1_x0_x1,fixed_box_depth_holes,fixed_box_new_depth_holes,fixed_box_depth_holes_outside_H,fixed_box_depth_holes_eligible_source -1,12540311,85476,"[483, 939, 696, 1074]",0,0,0,0 -123,12540311,85476,"[419, 748, 592, 1168]",0,0,0,0 -246,12540311,85476,"[350, 877, 662, 1049]",0,0,0,0 -368,12540311,85476,"[375, 850, 627, 1044]",0,0,0,0 -491,12540311,85476,"[511, 944, 585, 1008]",0,0,0,0 -1,12933256,43628,"[408, 746, 693, 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- ] -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/README.md b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/README.md deleted file mode 100644 index b98749f7b3a257839c795f831216b42570d1fbd4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/README.md +++ /dev/null @@ -1,339 +0,0 @@ -# Recording masks: session_20260921_225630_786148 (R7 mask stage, run 1) - -Status 2026-09-23: **the owner reviewed and accepted all 4 views × object/hand_A/hand_B** (run 1), -with the labelling below. `review_signoff.json` names the exact accepted run and prompt files with their -sha256. R3 should track from exactly those files. Any later run or prompt version is unreviewed until it -is signed off again. - -- Code: belt_perception main `72f954c4` (R2 #919 merged), worktree - `/mnt/data0/magna/belt_perception_wt_phystwin_real_rgbd_r7_masks`, profile `minimal`. -- SAM2 video predictor: git `969dad57`, `configs/sam2.1/sam2.1_hiera_l.yaml`, `fill_hole_area=0`, bf16/TF32. - Checkpoint `/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt` - (sha256 `2647878d…d318`). Exact identity is inside every prompt/run file. -- Window: `inspection/` (491 frames, sync [402, 893), four left views, all frames valid, no repeats/skips). -- `overview/`: 4 views × t = 0, 123, 245, 368, 490 (planning aid). -- `annotations/`: 12 owner prompts at t=0 (4 views × object/hand_A/hand_B), all points, version 1. - Labelling as prompted: hand_A is the hand wearing the metal bracelet in every view. Hands span the - sleeve cuff to the fingertips, including the bare forearm and excluding the bracelet. - `review_seeds/`: the accepted seed masks. The 23007103 hand_B seed has 12 px on hand_A that were not - propagated (hand overlap is 0 after t=0). -- `masks/`: run 1, 12 runs over [0, 491). Every run reproduces its accepted seed exactly (0 px) and loads - under the R2 rules. Cost: 7 min 44 s wall-clock for all 12 (about 39 s each), 5.2 GB peak RSS, - about 1.5 GB GPU, 6.6 MB on disk. Log: `logs/propagate_run1.log`. -- `review_run1/`: - - `review_summary.json` (every view/instance covers 491/491 frames, none empty); - - overlays at t = 0, 61, …, 490; - - `mask_diagnostics.json` (per-frame area, pieces, overlaps; review hints only, not criteria); - - `contact_sheets/` (standard plus flagged frames, cropped); - - `videos/` (half-resolution, 30 fps overlays with t burned in). - - The scripts that produced these are alongside. -- Agent pre-check of the contact sheets (not a substitute for owner review): - - Labels are consistent and the loop opening is clear. - - The belt breaks only where fingers hide it. - - The smallest belt areas are the loop seen edge-on. - - Hand/hand overlap of at most 59 px is the image-plane contact of the two hands in 12933256. - -## R3 tracks and derived fitting observations (2026-09-23) -- `tracks_run1/`: CoTracker3 online raw tracks, 4 views x 5000 frame-0 queries, from exactly the signed-off masks. -- `lifted_run1/`: metric lifting; 8 frame-zero points inside two masks excluded (owner decision). -- `fitting_run1/`: first derived bundle with the source controller pool (superseded; evidence). -- **`fitting_run2/fitting_observations.npz`: the current fitting input** (owner controller pool, controls within 0.04 m of the belt): F=492, K=491, N=1147, C=30 (21 hand_A + 9 hand_B). -- Review aids: `tracks_run1_review/` (overlays, belt crops, 30/10 fps videos, material-order hue strips) and - `fitting_run1_review/`, `fitting_run2_review/` (coverage, geometry, heights, near-belt controls). The owner accepted the - listed limitations and the gated controller pool on 2026-09-23; no fit has used these products yet. - -## RP1-MASKS: whole-person occluder masks (2026-09-25) - -Status 2026-09-25: **the owner reviewed and accepted all 4 views × `occluder`** (run 1). The owner's words, verbatim: -"looks good, I approve the new occluder masks". `review_signoff_occluder.json` (sha256 `6f12988f…`) names the -accepted run and prompt files with their sha256. RP2/RP3/RP6 consume only those files. `review_signoff.json` -is unchanged (`5b5568fb…`), and `logs/rp1_masks_pre_session_manifest.sha256` confirms that all 38 pre-existing -annotation/mask files are byte-identical. - -- **Plan:** `docs/plans/phystwin_real_rgbd_photometric_refinement_plan.md` §7.3 / §11.2.1. -- **Code:** belt_perception `3d4fe5d7` on `cursor/phystwin_real_rgbd_rp1_masks` (base main `2611950c`), which - additively adds `OCCLUDER_INSTANCE = "occluder"` to R2's `INSTANCE_IDS`/`INSTANCE_COLORS`. Worktree - `/mnt/data0/magna/belt_perception_wt_phystwin_real_rgbd_rp1_masks`, profile `minimal` + zdepth. -- **SAM2 and settings:** the same as run 1 above: SAM2 `969dad57` (clean), `sam2.1_hiera_large.pt` sha256 - `2647878d…d318`, `fill_hole_area=0`, bf16/TF32. The exact identity is recorded in every prompt/run file. -- **Labelling as accepted:** occluder = the whole visible person including the hands (overlap with the accepted - hand masks is intended, because the union is taken), sleeves, arms, torso, head and the bracelet. Belt, table, - robot and background are excluded. The owner saw the thin occluder-on-belt slivers at finger–belt contacts - (at most 176 px, `17736741` t=255) before accepting, and accepted without correction. -- **`annotations/prompts//occluder/t0000_v01.json`:** 4 owner prompts at t=0, each with 5 positive - points, version 1. Seed overlap with the accepted t=0 masks: 6 / 0 / 15 / 2 px on the object and 97–99 % of - each hand (`logs/annotate_occluder_session1.log`). -- **`masks//occluder/run0001_t0000-0491.npz`:** one run per view over [0, 491). Each is the sole supplier - for its view (491/491 frames covered and visible, no empty frame) and reproduces its seed exactly (0 px). - - Cost: 2 min 41 s wall-clock for all four, 5.4 GB peak RSS, 7.9 MB on disk. - - Log: `logs/propagate_occluder_run1.log`. Code head: `logs/propagate_occluder_run1.code_head`. -- **`review_occluder_run1/`**, with the scripts that produced it alongside: - - R2 `review` overlays at 33 standard and flagged frames, plus `review_summary.json` (all 16 view/instance - sets cover 491/491 frames from run 1); - - `occluder_diagnostics.json`: per-frame occluder area and pieces, occluder ∩ object/hands, and O ∩ H under the - final and provisional H (`occluder_review.py diagnostics`); - - `contact_sheets/`: full-frame and belt-crop sheets at the standard and flagged frames, with - `flagged_frames.json` giving the reasons; - - `videos/`: half-resolution overlays with the processed dilated H outlined and O ∩ H in red; - - `agent_precheck/`: native-resolution zooms of the worst occluder-on-belt frames, the bracelet and the sleeve; - - `write_occluder_signoff.py`: computes the sign-off's sha256/coverage entries. The decision and labelling - text are the owner's. -- **`photometric_rp1_final_h_20260925/`:** the final RP1 contact sheets and O ∩ H statistics with the signed-off H - and the delta against the provisional hands-only H (see its README). - - O ∩ H over the window grows by +7.8 / +5.7 / +2.9 / +2.0 % (views 12540311 / 12933256 / 17736741 / - 23007103), and no frame decreases. The share of object pixels goes from 1.79 / 3.27 / 3.06 / 3.14 % to - 1.93 / 3.45 / 3.15 / 3.20 %. - - O ∩ H was independently recomputed from the raw masks and equals RP1's per-frame counts exactly. - -## RP2-GEN: shape prior, alignment and hybrid inputs (2026-09-25) — AWAITING OWNER REVIEW - -Run `appearance_20260925/` (plan RP §11.3), made once from pushed commit `85cb0e1e` (PR #955, -clean tree) in the task-owned generator env -`/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator`. Steps: inputs -(main env), then tools, upscale, segment, trellis, align, hybrid (one process each, -`xvfb-run -a`). Logs are in `logs/` and records in `steps/*.json`. `manifest.json` (sha256 -`d43720e3…`) covers 94 files and verifies clean; this README section is not part of it. -Wall time was about 2 min in total. U pin `81c71879`; TRELLIS `442aa1e1`. HF snapshots: -x4-upscaler `572c9928`, TRELLIS-image-large `25e0d31f`. SAM2.1-L `2647878d…`. - -- **inputs:** reference frames are native frame 0 in every view. In-mask invalid depth is - 2/45/1/291 px. 25,699 lifted object points. -- **upscale (A1 seed 42):** U crop box (716.5, 531, 1054.5, 869) → 338² → 1344². Prompt - "Hand manipulates a rubber band." -- **segment:** 1 GroundingDINO detection "rubber band" (0.719). The SAM2 mask (81,460 px) is - **two arcs split at both grips**, plus a nick at the grey tape (`review/segment/`). -- **trellis:** GLB with 1,304 vertices / 1,602 faces, 24,864 Gaussians. Visually a flat closed - elliptical loop that bridges both grip gaps, with the opening kept (`review/trellis/`). - **Topologically it is a sphere** (position-merged: watertight, 1 component, Euler 2, not 0), - so the tube is fused or capped somewhere; the location was not identified. -- **align:** 23 SuperGlue matches (22 with render depth). EPnP reprojection error 24.9 px - (under the 50 px stop). Scale 0.331. Ray-registration targets per camera 511/492/500/490. - 131 vertices were below the table before the final ARAP; they end at z 0–16.5 mm. - - The rigid PnP+scale pose is tilted out of the table (it spans z −4 to +5 cm). - - ARAP moved vertices a median 4.6 cm (p95 7.3 cm) from the rigid pose, so the final shape - comes mostly from the deformation onto the observed cloud. - - Silhouettes (`review/align/silhouette_*`): the prior follows the belt mask along most of - the loop in 12540311. Crumpled mesh spurs lie over the hands (12540311 lower left; - 12933256 over the forearm). The bands are doubled/widened in 17736741 and 12933256, - consistent with the cross-view depth disagreement below. - - After position merging the final GLB has 89 components (vertices collapsed onto shared - targets). -- **hybrid:** U's loader (np seed 0) reads the case with 4 cameras. Populations: 25,699 - observed + 48,060 mesh samples (30 × 1,602), kept separate in `hybrid/populations.npz`. -- **Cross-view observation (reported, not corrected):** view 17736741's lifted belt sits at - median z = 17.6 mm vs 7.7–8.0 mm in the other views (a ~1 cm offset for a 6.6 mm cord on - the table). Cross-view nearest-neighbour medians are 5–14 mm. - -**Status:** stopped for the owner's prior/alignment review before RP3-TRAIN. Nothing -downstream consumes this run until then. - -**2026-09-27 outcome:** `appearance_20260925/` remains the rejected historical TRELLIS -prior (owner decision 2026-09-26). It was read only for the labelled comparison in -`appearance_spline_20260927/review/comparison/`; its files were not changed or used to -initialize the spline fit. - -## RP2-SPLINE-GEN: WAFT spline-tube prior (2026-09-27) — STOPPED AT REVIEW CHECK - -Run `appearance_spline_20260927/` used local CPU (`JAX_PLATFORMS=cpu`), main locked -environment, committed code `2c5de771` (PR #967, open at execution), and the bound -`photometric_depth_waft_stereo_dav2l5_20260926_canonical_v2/frames.npz`. The fixed -command sequence was executed once through `review`; no parameter, seed or stop-rule -change was made. The sequence stopped before `manifest` because the required headless -Rerun contact sheet was empty. The `.rrd` itself is 24,898,269 bytes; the review step -reported `ok` and hashed the zero-byte PNG, so that step status does not establish a -complete review package. The run was not rerun in place. - -- `inputs/`, `spline/`, `tube/`, `colors/`, `hybrid/`, and `steps/` retain the raw arrays - and step records. After 2 px erosion and the one-time 20-neighbour, 2σ filter, - 13,755 of 14,201 eroded points remained (4,268 / 2,523 / 4,399 / 2,565 by view). -- `inputs/depth_offset_diagnostic.json` reports belt-minus-table medians of 24.4 / - 17.2 / 17.2 / 23.5 mm by view, with no correction. This diagnostic was not a stop rule. -- The unchanged 25-iteration fitter stopped at its gradient tolerance after one round; - the two-run determinism check passed. Fitted arclength was 0.63517 m, within 0.17 mm - of its lower bound. Per-view residual medians were 5.05 / 10.12 / 6.13 / 13.85 mm. - The synthetic partial-view witness's signed z/radial biases were +1.51 / -0.48 mm. -- The 2.95 mm-radius, 72 × 12 tube has 864 vertices and 1,728 faces. All recorded - `tube/tube_checks.json` checks passed (watertight, one component, Euler 0, consistent - outward winding after a flip, no self-intersection). The top/front/side review plots - show a closed loop following the observed belt's broad outline; owner adequacy is - unreviewed. -- Visibility assigned observed colour to 369 vertices and the recorded median fill to - 495. U's pinned sampler produced 51,840 mesh points plus 13,755 observed points, - retained separately in `hybrid/populations.npz`. -- The labelled comparison with `appearance_20260925/` and other plotted review files - were written. `review/rerun/headless_contact_sheet.png` is **0 bytes**; therefore - there is no manifest and the prior is **not ready for owner adequacy acceptance or - RP3-TRAIN**. Inspect `steps/review.json`, the empty PNG, and the `.rrd` when resolving - the review-package defect. No downstream task should consume this incomplete run. - -## RP2-SPLINE: one-sided visible-mask 2D refit (2026-09-27) — READY FOR OWNER ADEQUACY REVIEW - -The owner requested a separate fit adding 2D reprojection distance because the 3D-only -centerline appeared above the belt in some camera views. The earlier B5 no-new-loss choice -applies to the 3D-only baseline; this comparison adds one owner-approved term. Successful -run: `appearance_spline_2d_20260927_v2/`, code `47f5ea02` on -`cursor/rp2_spline_2d_reprojection_20260927`. It uses the same WAFT frames, accepted masks, -2 px lifting erosion, light filter, ellipse initialization, 3D loss and priors, 25-iteration -LBFGS rounds, stopping rule, 2.95 mm radius, tessellation, colour rule and U sampler as -`appearance_spline_20260927/`. The filtered `inputs/observed_cloud.npz` is byte-for-byte -identical to that baseline (sha256 `8c5aa12a…`). - -- New loss: for every accepted object-mask pixel outside the signed hand/occluder union, - distance to the nearest of 360 projected centerline samples; one-sided, so absent - occluded-mask pixels do not penalize the unseen arc. Each view uses its median valid - visible belt depth and its `fx/fy` to convert pixels to approximate metres. The four - view means are averaged equally, then added at weight 1 with the round-belt 5 mm Huber - and 35 mm smooth cap. The 3D objective and solver configuration are unchanged. -- The fit stopped by the same gradient tolerance after one 25-iteration round; its two - CPU runs within this process were bitwise equal. The incomplete first comparison - attempt used identical input and settings but differs from `v2` by up to 10.3 µm - in a control-point coordinate across processes; cross-process bitwise identity is - not established. Arclength was 0.635313 m, close to the 0.635 m lower - bound. The new 2D component fell from 2.206e-5 at the 3D-only centerline to - 1.131e-5 at the refit. Mean visible-mask-pixel-to-centerline distance fell by view - from 5.58 / 10.98 / 4.39 / 12.76 px to 4.18 / 6.22 / 3.97 / 7.14 px. -- The fraction of visible projected centerline samples outside the accepted masks fell - from 40.3 / 81.8 / 16.2 / 82.7 % to 12.0 / 48.3 / 1.9 / 73.6 %. View 3 remains - substantially offset. Mean 3D point-to-centerline distance rose from 8.44 to - 9.44 mm; per-view 3D medians changed from 5.05 / 10.12 / 6.13 / 13.85 mm to - 7.05 / 6.33 / 10.83 / 12.66 mm. Thus the new term improves the measured 2D - alignment while trading away some 3D fit; it does not establish corrected extrinsics. -- All `tube/tube_checks.json` checks passed. Colour visibility observed 453 vertices - versus 369 in the 3D-only run; 411 vertices used the unchanged median fill. The - hybrid preview retains 51,840 mesh and 13,755 observed points. Review includes - four labelled 3D-only-vs-3D+2D camera overlays, table-frame projections, the - historical rejected-prior comparison, a valid 1,184,996-byte Rerun screenshot and - the `.rrd`. `manifest.json` verified (sha256 `e8657323…`). - -The first comparison attempt, `appearance_spline_2d_20260927/`, retained its fit and -figures but stopped before manifest because its in-process headless screenshot was empty. -The review writer was corrected to render from a fresh process; the fresh `v2` run uses -the same settings. Both attempted directories remain as evidence. **The owner has not -yet accepted the new prior; RP3-TRAIN remains on hold for that review.** - - -## RP2-SPLINE-GEN review recovery (2026-09-27) - -`appearance_spline_20260927_review_recovery/` is a new copy of the retained -`appearance_spline_20260927/` science and review files. The 0-byte Rerun contact sheet -was recovered by one local headless replay of the retained 24,898,269-byte `.rrd` -under screenshot-wait fix `b98e3b77`; no depth, fit, mesh, colour, or hybrid computation -was rerun and no setting changed. `recovery.json` records the source and digests. -The new `review/rerun/headless_contact_sheet.png` is a visually inspected 1920×1080 -PNG (1,185,882 bytes); all seven step-file digests and `manifest.json` verify. -The new manifest SHA-256 is -`1f7b1dfbe12923476afe8b36aff3fda4531ca81fa357005f836617b78970316c`. -The original stopped run, including its empty PNG and `steps/review.json`, remains -unchanged. This completes the review package; prior adequacy still requires owner -judgment before RP3-TRAIN. - -## RP2-SPLINE: weight-2 visible-mask comparison (2026-09-27) — OWNER REVIEW PENDING - -The owner selected weight 2 for a further comparison with the weight-1 visible-mask -refit. Complete CPU run: `appearance_spline_2d_weight2_20260927/`, code `4c0d2e35` -on `cursor/rp2_spline_2d_reprojection_20260927`. The only scientific setting changed -from `appearance_spline_2d_20260927_v2/` is `--reprojection-weight 2` instead of 1. -The filtered observed cloud is byte-for-byte identical to both earlier runs (sha256 -`8c5aa12a076cde7a8e2780f0c5643148614ccc2963ab1adcdaa3548fdc91d2a4`). -The WAFT depth source, masks, light filter, ellipse initialization, 3D loss, solver, -stopping rule, tube, colour rule, and U sampler remain unchanged. - -| Camera serial | Mask pixel → centerline mean, weight 1 → 2 | Visible centerline outside mask, weight 1 → 2 | -|---|---:|---:| -| 12540311 | 4.18 → 3.75 px | 12.0% → 1.3% | -| 12933256 | 6.22 → 4.43 px | 48.3% → 20.9% | -| 17736741 | 3.96 → 3.47 px | 1.9% → 0.3% | -| 23007103 | 7.14 → 4.64 px | 73.6% → 29.6% | - -The mean 3D point → centerline distance increased from 9.436 to 10.763 mm (the -3D-only baseline was 8.435 mm). Per-view 3D medians changed from 7.05 / 6.33 / -10.83 / 12.66 mm to 9.30 / 6.12 / 13.09 / 12.91 mm. The new fit stopped at the -unchanged gradient tolerance after one 25-iteration round; its two within-process -CPU fits were bitwise equal. Arclength is 0.636913 m; maximum curvature is -20.38 1/m. Four labelled camera overlays were inspected: alignment visibly improves, -including view 3, but the table-frame projection shows the fitted centerline lower -relative to the observed cloud. A single frame cannot establish which of depth, -extrinsics, surface observations, or masks explains that tradeoff. - -All `tube/tube_checks.json` checks passed. Colour visibility observed 533 vertices -and filled 331 by the unchanged rule; the hybrid preview still contains 51,840 mesh -samples and 13,755 observed points. The complete review includes a valid 1,185,058-byte -Rerun screenshot and `.rrd`; `manifest.json` verifies (sha256 -`99f3cfb87652d3bce735a88948fb593ae56e20b099cb58c823f7a8db1767cde2`). -Raw comparisons and per-pixel residuals are in `spline/` under the new run. The owner -has not selected a final prior; RP3-TRAIN remains on hold. - -## RP2-SPLINE: weight-4 visible-mask comparison (2026-09-27) — OWNER REVIEW PENDING - -At the owner's request, a fresh CPU run `appearance_spline_2d_weight4_20260927/` -changed only `--reprojection-weight` from 2 to 4 relative to -`appearance_spline_2d_weight2_20260927/`. Run code: `b99a6203` on -`cursor/rp2_spline_2d_reprojection_20260927`. The filtered observed cloud is -byte-for-byte identical to the weight-1 and weight-2 runs (sha256 -`8c5aa12a076cde7a8e2780f0c5643148614ccc2963ab1adcdaa3548fdc91d2a4`). -Depth, masks, light filter, 3D loss, initialization, solver, stopping rule, tube, -colour and hybrid settings were held fixed. - -| Camera serial | Mask pixel → centerline mean, weight 2 → 4 | Visible centerline outside mask, weight 2 → 4 | -|---|---:|---:| -| 12540311 | 3.75 → 3.40 px | 1.31% → 0.66% | -| 12933256 | 4.43 → 3.37 px | 20.95% → 1.60% | -| 17736741 | 3.47 → 3.22 px | 0.32% → 0.32% | -| 23007103 | 4.64 → 3.54 px | 29.58% → 1.28% | - -The mean 3D point → centerline distance rose from 10.763 to 12.080 mm (9.436 mm -at weight 1 and 8.435 mm for the 3D-only baseline). Per-view 3D medians changed -from 9.30 / 6.12 / 13.09 / 12.91 mm to 11.29 / 6.46 / 14.89 / 13.45 mm. The -fit stopped by the unchanged gradient tolerance after one 25-iteration round; -its two within-process CPU fits had bitwise-equal control points. Arclength was -0.638030 m and maximum curvature 19.88 1/m. Four labelled camera overlays were -inspected and show closer mask alignment. The table-frame projection shows the -centerline lower relative to the observed 3D cloud; this remains a material -adequacy tradeoff, not evidence of corrected depth or extrinsics. - -All tube checks passed. The unchanged colour rule directly observed 544 vertices -and filled 320; hybrid populations remained 51,840 mesh plus 13,755 observed. -The review package has a valid 1,184,074-byte headless Rerun PNG and `.rrd`. -`manifest.json` verifies (sha256 -`322d265118068cb2220dc7ee2ae8c438b09f876e2559ab2ec87ca8c5928e0277`). -Raw comparison metrics and per-pixel residuals are under the new run's `spline/`. -No final prior has been selected; RP3-TRAIN remains on hold. - -## RP2-SPLINE shape-prior selection (2026-09-27) - -After reviewing the labelled weight-4 overlays, the owner accepted -`appearance_spline_2d_weight4_20260927/` as the shape prior for the remaining -REAL_RGBD RP plan. Its verified `manifest.json` sha256 is -`322d265118068cb2220dc7ee2ae8c438b09f876e2559ab2ec87ca8c5928e0277`; -`tube/shape_prior.glb` sha256 is -`bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc`. -RP3 must bind this exact run and manifest. The 3D-only, weight-1 and weight-2 -runs remain comparisons, and `appearance_20260925/` remains rejected historical -evidence. Acceptance is for prior adequacy; the measured 12.080 mm mean 3D -point-to-centerline distance and the frame-0 appearance/particle offset remain -limitations for RP3/RP4 to report. - -## RP3 appearance acceptance and RP4 unrefined P0 baseline (2026-09-27) - -The owner accepted the 10,000-iteration RP3 appearance as adequate for the -shape prior. RP4 bound its 52,527 strict-opacity-post-prune Gaussians to the -1,147 R7 object tracks through the fixed K16 incremental-v2 LBS owner, with -identity registration and no appearance or dynamics tuning. Canonical save/load, -source parity, four-view photometric gradients and dynamic gsplat 1.4/1.5.3 -comparisons are retained in the `rp4_binding_20260927_v2/`, -`rp4_transaction_20260927_v2/`, `rp4_gradient_witness_20260927/`, and -`rp4_dynamic_*_quartile_20260927/` directories. The latter use seven fixed -deformed states and 28 matched renders; see the committed RP4 experiment report -for measured differences and finite-difference limitations. - -`rp4_p0_baseline_20260927/` scores the **retained c0500 rollout** (491 -transitions, four views) with the RP1 WAFT association, signed masks and Q5/S-H2 -objective. `p0_scores.npz`, `score.json` and 491 step records were saved before -review media. The mean unrefined score is `0.0071495870`; view means are -`0.0093726682 / 0.0046188928 / 0.0091296301 / 0.0054771570`. Its `review/` -directory has four sheet videos, all sheets, component curves and a Rerun image -recording. `rp4_conditioning_20260927_v2/` records support and appearance offsets -through motion. The first, lifted and final sheets were inspected; lifted motion -shows loop displacement and grip-region density, and the final view-0 arc has a -visible offset. 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69.7 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1 - ], - "box_uv": null, - "source": "manual", - "note": "", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "9d17647536bfd9ce0e3a2ca035694dd7a7854fa13cd963b98f4daccc2b7418a2", - "seed_mask_pixels": 171464, - "seed_model": { - "predictor": "sam2_video_predictor", - "config": "configs/sam2.1/sam2.1_hiera_l.yaml", - "config_file": "/mnt/data0/magna/belt_perception_wt_phystwin_real_rgbd_rp1_masks/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_phystwin_real_rgbd_rp1_masks/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": "2026-09-25T19:36:14Z" -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/annotations/prompts/23007103/occluder/t0000_v01_seed_mask.npz b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/annotations/prompts/23007103/occluder/t0000_v01_seed_mask.npz deleted file mode 100644 index 77ed7a820996d0cd5a1f99932883c55f99218c55..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/annotations/prompts/23007103/occluder/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9d17647536bfd9ce0e3a2ca035694dd7a7854fa13cd963b98f4daccc2b7418a2 -size 5125 diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/README.md b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/README.md deleted file mode 100644 index 924c47e90176c65f75f2b2b03fe41d4e871e876b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/README.md +++ /dev/null @@ -1,32 +0,0 @@ -# R3 derived fitting observations, run 1 (2026-09-23): session_20260921_225630_786148 - -Status: produced for owner review. This is the fitting input R4 reads (fitting_observations.npz). It is -not yet owner-accepted: tracking quality, cross-view geometry and hand attachment coverage are open review -items below, and no model/fit has used it. - -- Code: branch cursor/phystwin_real_rgbd_r3_tracks @ ca659210d50ccad960b10653a0e639d725956aea (PR #918). -- Inputs: ../inspection/frames.npz; ../lifted_run1/lifted_.npz (lift of ../tracks_run1 raw tracks with - the 12 signed-off R2 masks, owner rule 2026-09-23: 8 frame-zero points inside two masks excluded as - ambiguous_frame0_instance). Logs: ../logs/lift_run1.log, ../logs/fitting_run1.log (71 s, 1.9 GB RSS). -- Grid (plan §5.4): exact 30 Hz from origin 1790045828176911549 ns; F=492, K=491; last sample - 1790045844543578215 + 2/3 ns; unsampled 16.911549 ms (lead) / 26.421784 ms (tail) of the annotation. -- Population: 2566 belt tracks -> 191 without a valid first derived sample (12540311 39, 12933256 70, - 17736741 0, 23007103 82) -> 1 exact duplicate, 1227 voxel mates -> N=1147 representatives - (297/253/280/317 by view). Hands: 17,114 hand tracks -> 3,083 not complete, 4,589 motion-rejected, 9,412 surviving but not FPS-selected - -> 30 FPS controls: hand_A 15, hand_B 15 (not a quota). Missing-controller gate: passed. -- Coverage: derived V per sample min/median/max 203/460/1147; M per transition 125/292/994; - captured denominators D_V=1043, D_M=994. -- Review aids: ../fitting_run1_review/ (coverage.png, geometry.png, z_distribution.png, fitting_review.json, - controls_near_belt.json and their scripts). - -Open review items (diagnostics, no threshold implied): -1. Per-view geometry offsets: resting-belt heights by view differ by ~1-2 cm (17736741 highest), and - 12933256 / 23007103 trace parallel copies of parts of the loop ~1-2 cm outward; nearest other-view point - median 4-10 mm at rest, 15 mm (p90 31 mm) for 23007103 mid-motion. Consistent with R1's bare-table - observation (per-view table z 0.9-11 mm). Offsets larger than 5 mm survive voxel selection as parallel - traces (plan §5.3/§9: return to owner; no selector change made). -2. Belt coverage drops quickly after sample 0 and dips mid-lift; some isolated outliers remain valid in V. -3. Controls within the source initial controller radius 0.04 m of a belt representative at sample 0: - hand_A 3, hand_B 1 (within 0.08 m: 9 / 6). FPS spreads controls over the labelled hand+forearm. -4. Material tracking: agent pre-check (../tracks_run1_review/material_order/) shows preserved frame-0 order - and no visible swaps; fine along-belt sliding is not excluded. Owner review of the track videos is the gate. diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/fitting_association.npz b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/fitting_association.npz deleted file mode 100644 index 93b0549aacc64d59534558e8a6e8bf6540720f53..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/fitting_association.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:21fa7866f9cb89ef39cf62aa1ae8a17cca278fb542f349d9589ea2eb33e0df0f -size 24505261 diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/fitting_observations.npz b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/fitting_observations.npz deleted file mode 100644 index 8929ca2f22a92913477554ec11928c7eb6cb5528..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/fitting_observations.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:df43f046edcc42f8af94d520177d36e7b48fce23060c9a53763356775c733f93 -size 19208153 diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/fitting_report.json b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/fitting_report.json deleted file mode 100644 index 098d3d340f5bcbfedbbe1d23fbdfb1d4b6f30847..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run1/fitting_report.json +++ /dev/null @@ -1,390 +0,0 @@ -{ - "sample_count": 492, - "transition_count": 491, - "native_frame_count": 491, - "physics_frame": "table", - "hand_validity": "union of both hand masks (U pooled rule); frame-zero physical label fixed", - "source_constants": { - "neighbor_dist_m": 0.01, - "motion_threshold_m": 0.005, - "min_neighbors": 5, - "voxel_size_m": 0.005, - "controller_count": 30 - }, - "views": [ - { - "serial": "12540311", - "queries": 5000, - "frame0_status": { - "ambiguous_frame0_instance": 1, - "invalid_depth_at_frame0": 23, - "member": 4951, - "no_instance_mask_at_frame0": 25 - }, - "frame0_members": { - "object": 674, - "hand_A": 2635, - "hand_B": 1642 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 0, - "offset_from_anchor_ms_min_median_max": [ - 0.0, - 0.0, - 0.0 - ] - }, - { - "serial": "12933256", - "queries": 5000, - "frame0_status": { - "invalid_depth_at_frame0": 35, - "member": 4953, - "no_instance_mask_at_frame0": 12 - }, - "frame0_members": { - "object": 539, - "hand_A": 1799, - "hand_B": 2615 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 30, - "offset_from_anchor_ms_min_median_max": [ - -6.788030999999999, - -1.04854, - 2.256017 - ] - }, - { - "serial": "17736741", - "queries": 5000, - "frame0_status": { - "ambiguous_frame0_instance": 5, - "invalid_depth_at_frame0": 18, - "member": 4940, - "no_instance_mask_at_frame0": 37 - }, - "frame0_members": { - "object": 681, - "hand_A": 2503, - "hand_B": 1756 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 0, - "offset_from_anchor_ms_min_median_max": [ - 7.132026, - 10.241607, - 14.674681 - ] - }, - { - "serial": "23007103", - "queries": 5000, - "frame0_status": { - "ambiguous_frame0_instance": 2, - "invalid_depth_at_frame0": 147, - "member": 4836, - "no_instance_mask_at_frame0": 15 - }, - "frame0_members": { - "object": 672, - "hand_A": 1506, - "hand_B": 2658 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 0, - "offset_from_anchor_ms_min_median_max": [ - -7.839954, - -1.035583, - 4.2294149999999995 - ] - } - ], - "object": { - "candidates": { - "12540311": { - "object": 674 - }, - "12933256": { - "object": 539 - }, - "17736741": { - "object": 681 - }, - "23007103": { - "object": 672 - } - }, - "no_valid_first_sample": { - "12540311": { - "object": 39 - }, - "12933256": { - "object": 70 - }, - "17736741": { - "object": 0 - }, - "23007103": { - "object": 82 - } - }, - "exact_frame0_duplicate": { - "12540311": { - "object": 1 - }, - "12933256": { - "object": 0 - }, - "17736741": { - "object": 0 - }, - "23007103": { - "object": 0 - } - }, - "voxel_mate": { - "12540311": { - "object": 337 - }, - "12933256": { - "object": 216 - }, - "17736741": { - "object": 401 - }, - "23007103": { - "object": 273 - } - }, - "selected": { - "12540311": { - "object": 297 - }, - "12933256": { - "object": 253 - }, - "17736741": { - "object": 280 - }, - "23007103": { - "object": 317 - } - }, - "representatives": 1147, - "visible_per_sample_min_median_max": [ - 203, - 460, - 1147 - ], - "motion_valid_per_transition_min_median_max": [ - 125, - 292, - 994 - ], - "captured_denominators": { - "D_V = sum V[1]": 1043, - "D_M = sum M[0]": 994 - }, - "admitted_motion_valid_per_transition_min_median_max": [ - 261, - 652, - 2121 - ] - }, - "hands": { - "candidates": { - "12540311": { - "hand_A": 2635, - "hand_B": 1642 - }, - "12933256": { - "hand_A": 1799, - "hand_B": 2615 - }, - "17736741": { - "hand_A": 2503, - "hand_B": 1756 - }, - "23007103": { - "hand_A": 1506, - "hand_B": 2658 - } - }, - "not_visible_all_frames": { - "12540311": { - "hand_A": 320, - "hand_B": 235 - }, - "12933256": { - "hand_A": 351, - "hand_B": 468 - }, - "17736741": { - "hand_A": 375, - "hand_B": 254 - }, - "23007103": { - "hand_A": 430, - "hand_B": 650 - } - }, - "motion_filter_rejected": { - "12540311": { - "hand_A": 340, - "hand_B": 664 - }, - "12933256": { - "hand_A": 748, - "hand_B": 373 - }, - "17736741": { - "hand_A": 461, - "hand_B": 629 - }, - "23007103": { - "hand_A": 646, - "hand_B": 728 - } - }, - "not_fps_selected": { - "12540311": { - "hand_A": 1974, - "hand_B": 742 - }, - "12933256": { - "hand_A": 695, - "hand_B": 1768 - }, - "17736741": { - "hand_A": 1660, - "hand_B": 868 - }, - "23007103": { - "hand_A": 428, - "hand_B": 1277 - } - }, - "selected": { - "12540311": { - "hand_A": 1, - "hand_B": 1 - }, - "12933256": { - "hand_A": 5, - "hand_B": 6 - }, - "17736741": { - "hand_A": 7, - "hand_B": 5 - }, - "23007103": { - "hand_A": 2, - "hand_B": 3 - } - } - }, - "controllers": { - "selected": 30, - "per_hand": { - "hand_A": 15, - "hand_B": 15 - }, - "per_view_hand": { - "12540311": { - "hand_A": 1, - "hand_B": 1 - }, - "12933256": { - "hand_A": 5, - "hand_B": 6 - }, - "17736741": { - "hand_A": 7, - "hand_B": 5 - }, - "23007103": { - "hand_A": 2, - "hand_B": 3 - } - }, - "failure": null - }, - "missing_controller_gate": { - "passed": true, - "controls_per_hand": { - "hand_A": 15, - "hand_B": 15 - } - }, - "grid": { - "rate_hz": 30, - "period_ns": "1000000000/30", - "origin_ns": 1790045828176911549, - "sample_count_F": 492, - "transition_count_K": 491, - "last_sample_ns": "5370137533630734647/3", - "common_support_ns": [ - 1790045828176911549, - 1790045844557380893 - ], - "annotation_half_open_ns": [ - 1790045828160000000, - 1790045844570000000 - ], - "unsampled_leading_ms_vs_annotation": 16.911549, - "unsampled_trailing_ms_vs_annotation": 26.42178433333333, - "unsampled_trailing_ms_vs_common_support": 13.802677333333333 - }, - "derived_reasons": { - "0": "valid", - "1": "exact raw sample not valid", - "2": "left raw bracket sample not valid", - "3": "right raw bracket sample not valid", - "4": "both raw bracket samples not valid", - "5": "target outside the view's recorded times (no extrapolation)" - }, - "candidate_samples_by_reason": { - "object": { - "valid": 508720, - "left raw bracket sample not valid": 66871, - "right raw bracket sample not valid": 67440, - "both raw bracket samples not valid": 619441 - }, - "hand": { - "valid": 8134722, - "left raw bracket sample not valid": 39450, - "right raw bracket sample not valid": 40347, - "both raw bracket samples not valid": 205569 - } - }, - "inputs": { - "frames": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz", - "lifted": [ - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1/lifted_12540311.npz", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1/lifted_12933256.npz", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1/lifted_17736741.npz", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1/lifted_23007103.npz" - ] - } -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/README.md b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/README.md deleted file mode 100644 index 1a35ba3b5ffe2221b154d28c196239896d022e55..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/README.md +++ /dev/null @@ -1,15 +0,0 @@ -# R3 derived fitting observations, run 2 (2026-09-23): the current fitting input - -Same as ../fitting_run1 except the controller pool: owner decision 2026-09-23 limits FPS30 to surviving hand -points within 0.04 m (the source initial controller radius) of a selected belt representative at the first -derived sample. fitting_run1 (source pool) is kept as evidence. - -- Code: branch cursor/phystwin_real_rgbd_r3_tracks @ f12dddefeb51b98e69fa2925bcdd5586e8c9ccfb (PR #918). - Inputs ../inspection/frames.npz and ../lifted_run1/. Log ../logs/fitting_run2.log (71 s). -- Grid and belt population identical to fitting_run1: F=492, K=491, N=1147, D_V=1043, D_M=994. -- Controls: 30 = hand_A 21 + hand_B 9 (FPS result, not a quota); by view hand_A/hand_B - 12540311 1/2, 12933256 5/0, 17736741 4/6, 23007103 11/1. All within 0.04 m of the belt at sample 0 - (max 39.996 mm); within 0.02 m: 6 / 2; within 0.01 m: 3 / 0. Missing-controller gate: passed. -- Pool: 9,442 survivors -> 634 within 0.04 m (hand_A 492, hand_B 142); the rest are beyond_controller_gate. -- Review: ../fitting_run2_review/ (coverage, geometry, heights, controls_near_belt.json). -- Owner accepted the remaining fitting_run1 limitations (per-view offsets, coverage dips, tracking review). diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_association.npz b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_association.npz deleted file mode 100644 index a9922b2a419727deb568ba2e2df1758678773873..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_association.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3aeaf810a874b481ca158ae9c7e7ac2551c7097ed1fd022d3f0f1a4ab2dcf094 -size 24642477 diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_observations.npz b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_observations.npz deleted file mode 100644 index baec7eefcd78147e10079398f0df0ce7a579d079..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_observations.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca -size 19208717 diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_report.json b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_report.json deleted file mode 100644 index f7d77a8615a3b7a8cd9f404a4bc85392b3d9ca4f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_report.json +++ /dev/null @@ -1,460 +0,0 @@ -{ - "sample_count": 492, - "transition_count": 491, - "native_frame_count": 491, - "physics_frame": "table", - "hand_validity": "union of both hand masks (U pooled rule); frame-zero physical label fixed", - "source_constants": { - "neighbor_dist_m": 0.01, - "motion_threshold_m": 0.005, - "min_neighbors": 5, - "voxel_size_m": 0.005, - "controller_count": 30 - }, - "views": [ - { - "serial": "12540311", - "queries": 5000, - "frame0_status": { - "ambiguous_frame0_instance": 1, - "invalid_depth_at_frame0": 23, - "member": 4951, - "no_instance_mask_at_frame0": 25 - }, - "frame0_members": { - "object": 674, - "hand_A": 2635, - "hand_B": 1642 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 0, - "offset_from_anchor_ms_min_median_max": [ - 0.0, - 0.0, - 0.0 - ] - }, - { - "serial": "12933256", - "queries": 5000, - "frame0_status": { - "invalid_depth_at_frame0": 35, - "member": 4953, - "no_instance_mask_at_frame0": 12 - }, - "frame0_members": { - "object": 539, - "hand_A": 1799, - "hand_B": 2615 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 30, - "offset_from_anchor_ms_min_median_max": [ - -6.788030999999999, - -1.04854, - 2.256017 - ] - }, - { - "serial": "17736741", - "queries": 5000, - "frame0_status": { - "ambiguous_frame0_instance": 5, - "invalid_depth_at_frame0": 18, - "member": 4940, - "no_instance_mask_at_frame0": 37 - }, - "frame0_members": { - "object": 681, - "hand_A": 2503, - "hand_B": 1756 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 0, - "offset_from_anchor_ms_min_median_max": [ - 7.132026, - 10.241607, - 14.674681 - ] - }, - { - "serial": "23007103", - "queries": 5000, - "frame0_status": { - "ambiguous_frame0_instance": 2, - "invalid_depth_at_frame0": 147, - "member": 4836, - "no_instance_mask_at_frame0": 15 - }, - "frame0_members": { - "object": 672, - "hand_A": 1506, - "hand_B": 2658 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 0, - "offset_from_anchor_ms_min_median_max": [ - -7.839954, - -1.035583, - 4.2294149999999995 - ] - } - ], - "object": { - "candidates": { - "12540311": { - "object": 674 - }, - "12933256": { - "object": 539 - }, - "17736741": { - "object": 681 - }, - "23007103": { - "object": 672 - } - }, - "no_valid_first_sample": { - "12540311": { - "object": 39 - }, - "12933256": { - "object": 70 - }, - "17736741": { - "object": 0 - }, - "23007103": { - "object": 82 - } - }, - "exact_frame0_duplicate": { - "12540311": { - "object": 1 - }, - "12933256": { - "object": 0 - }, - "17736741": { - "object": 0 - }, - "23007103": { - "object": 0 - } - }, - "voxel_mate": { - "12540311": { - "object": 337 - }, - "12933256": { - "object": 216 - }, - "17736741": { - "object": 401 - }, - "23007103": { - "object": 273 - } - }, - "selected": { - "12540311": { - "object": 297 - }, - "12933256": { - "object": 253 - }, - "17736741": { - "object": 280 - }, - "23007103": { - "object": 317 - } - }, - "representatives": 1147, - "visible_per_sample_min_median_max": [ - 203, - 460, - 1147 - ], - "motion_valid_per_transition_min_median_max": [ - 125, - 292, - 994 - ], - "captured_denominators": { - "D_V = sum V[1]": 1043, - "D_M = sum M[0]": 994 - }, - "admitted_motion_valid_per_transition_min_median_max": [ - 261, - 652, - 2121 - ] - }, - "hands": { - "candidates": { - "12540311": { - "hand_A": 2635, - "hand_B": 1642 - }, - "12933256": { - "hand_A": 1799, - "hand_B": 2615 - }, - "17736741": { - "hand_A": 2503, - "hand_B": 1756 - }, - "23007103": { - "hand_A": 1506, - "hand_B": 2658 - } - }, - "not_visible_all_frames": { - "12540311": { - "hand_A": 320, - "hand_B": 235 - }, - "12933256": { - "hand_A": 351, - "hand_B": 468 - }, - "17736741": { - "hand_A": 375, - "hand_B": 254 - }, - "23007103": { - "hand_A": 430, - "hand_B": 650 - } - }, - "motion_filter_rejected": { - "12540311": { - "hand_A": 340, - "hand_B": 664 - }, - "12933256": { - "hand_A": 748, - "hand_B": 373 - }, - "17736741": { - "hand_A": 461, - "hand_B": 629 - }, - "23007103": { - "hand_A": 646, - "hand_B": 728 - } - }, - "beyond_controller_gate": { - "12540311": { - "hand_A": 1950, - "hand_B": 716 - }, - "12933256": { - "hand_A": 544, - "hand_B": 1774 - }, - "17736741": { - "hand_A": 1631, - "hand_B": 792 - }, - "23007103": { - "hand_A": 155, - "hand_B": 1246 - } - }, - "not_fps_selected": { - "12540311": { - "hand_A": 24, - "hand_B": 25 - }, - "12933256": { - "hand_A": 151, - "hand_B": 0 - }, - "17736741": { - "hand_A": 32, - "hand_B": 75 - }, - "23007103": { - "hand_A": 264, - "hand_B": 33 - } - }, - "selected": { - "12540311": { - "hand_A": 1, - "hand_B": 2 - }, - "12933256": { - "hand_A": 5, - "hand_B": 0 - }, - "17736741": { - "hand_A": 4, - "hand_B": 6 - }, - "23007103": { - "hand_A": 11, - "hand_B": 1 - } - } - }, - "controllers": { - "selected": 30, - "per_hand": { - "hand_A": 21, - "hand_B": 9 - }, - "per_view_hand": { - "12540311": { - "hand_A": 1, - "hand_B": 2 - }, - "12933256": { - "hand_A": 5, - "hand_B": 0 - }, - "17736741": { - "hand_A": 4, - "hand_B": 6 - }, - "23007103": { - "hand_A": 11, - "hand_B": 1 - } - }, - "failure": null - }, - "missing_controller_gate": { - "passed": true, - "controls_per_hand": { - "hand_A": 21, - "hand_B": 9 - } - }, - "grid": { - "rate_hz": 30, - "period_ns": "1000000000/30", - "origin_ns": 1790045828176911549, - "sample_count_F": 492, - "transition_count_K": 491, - "last_sample_ns": "5370137533630734647/3", - "common_support_ns": [ - 1790045828176911549, - 1790045844557380893 - ], - "annotation_half_open_ns": [ - 1790045828160000000, - 1790045844570000000 - ], - "unsampled_leading_ms_vs_annotation": 16.911549, - "unsampled_trailing_ms_vs_annotation": 26.42178433333333, - "unsampled_trailing_ms_vs_common_support": 13.802677333333333 - }, - "controller_pool": { - "controller_gate_m": 0.04, - "survivors": { - "12540311": { - "hand_A": 1975, - "hand_B": 743 - }, - "12933256": { - "hand_A": 700, - "hand_B": 1774 - }, - "17736741": { - "hand_A": 1667, - "hand_B": 873 - }, - "23007103": { - "hand_A": 430, - "hand_B": 1280 - } - }, - "pool": { - "12540311": { - "hand_A": 25, - "hand_B": 27 - }, - "12933256": { - "hand_A": 156, - "hand_B": 0 - }, - "17736741": { - "hand_A": 36, - "hand_B": 81 - }, - "23007103": { - "hand_A": 275, - "hand_B": 34 - } - }, - "survivor_distance_to_belt_mm_p5_p50_p95": { - "hand_A": [ - 27.5, - 75.9, - 166.6 - ], - "hand_B": [ - 47.1, - 89.0, - 161.9 - ] - }, - "selected_distance_to_belt_mm_max": 39.99618332805398 - }, - "derived_reasons": { - "0": "valid", - "1": "exact raw sample not valid", - "2": "left raw bracket sample not valid", - "3": "right raw bracket sample not valid", - "4": "both raw bracket samples not valid", - "5": "target outside the view's recorded times (no extrapolation)" - }, - "candidate_samples_by_reason": { - "object": { - "valid": 508720, - "left raw bracket sample not valid": 66871, - "right raw bracket sample not valid": 67440, - "both raw bracket samples not valid": 619441 - }, - "hand": { - "valid": 8134722, - "left raw bracket sample not valid": 39450, - "right raw bracket sample not valid": 40347, - "both raw bracket samples not valid": 205569 - } - }, - "inputs": { - "frames": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz", - "lifted": [ - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1/lifted_12540311.npz", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1/lifted_12933256.npz", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1/lifted_17736741.npz", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1/lifted_23007103.npz" - ] - } -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/lifted_run1/README.md b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/lifted_run1/README.md deleted file mode 100644 index bc1984f70fdf49079c285abfe90b776e2aeb3cbf..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/lifted_run1/README.md +++ /dev/null @@ -1,4 +0,0 @@ -# R3 lifted tracks, run 1: lift of ../tracks_run1 raw tracks with the 12 signed-off R2 masks -Owner rule 2026-09-23: frame-zero points inside two masks are excluded (ambiguous_frame0_instance): -12540311 q3044 (object+hand_A), 17736741 q1210 q2763 q2989 q3683 q4089 (object+hand_A), -23007103 q3236 q4347 (hand_A+hand_B). See lift_report.json and ../logs/lift_run1.log. diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/lifted_run1/lift_report.json b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/lifted_run1/lift_report.json deleted file mode 100644 index 09c4d10767f60abe5b5f483961cccf279def9f07..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/lifted_run1/lift_report.json +++ /dev/null @@ -1,176 +0,0 @@ -{ - "inputs": { - "frames": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz", - "annotations": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/annotations", - "masks": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/masks", - "tracks": [ - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/tracks_run1/tracks_12540311.npz", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/tracks_run1/tracks_12933256.npz", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/tracks_run1/tracks_17736741.npz", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/tracks_run1/tracks_23007103.npz" - ] - }, - "mask_signoff": { - "signoff": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff.json", - "signoff_sha256": "5b5568fbf6abc9bc6150496bf58e377d14d6fc698455c8578108b1d4abd35f7e", - "reviewed_by": "owner", - "decision": "accepted all views and instances", - "date": "2026-09-23", - "labelling_as_accepted": "hand_A = hand wearing the metal bracelet in every view; hands span sleeve cuff to fingertips incl. bare forearm, bracelet excluded; object = visible belt pixels, loop opening background" - }, - "views": [ - { - "serial": "12540311", - "seed": 20260923, - "queries": 5000, - "tracker_visible_fraction": 0.9619091649694501, - "frame0_status": { - "ambiguous_frame0_instance": 1, - "invalid_depth_at_frame0": 23, - "member": 4951, - "no_instance_mask_at_frame0": 25 - }, - "frame0_members": { - "object": 674, - "hand_A": 2635, - "hand_B": 1642 - }, - "ambiguous_frame0": { - "rule": "frame-zero pixel in more than one instance mask: excluded from every population (owner decision 2026-09-23)", - "queries": [ - 3044 - ], - "instances": [ - [ - "object", - "hand_A" - ] - ] - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - } - }, - { - "serial": "12933256", - "seed": 20260924, - "queries": 5000, - "tracker_visible_fraction": 0.9698301425661915, - "frame0_status": { - "invalid_depth_at_frame0": 35, - "member": 4953, - "no_instance_mask_at_frame0": 12 - }, - "frame0_members": { - "object": 539, - "hand_A": 1799, - "hand_B": 2615 - }, - "ambiguous_frame0": { - "rule": "frame-zero pixel in more than one instance mask: excluded from every population (owner decision 2026-09-23)", - "queries": [], - "instances": [] - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - } - }, - { - "serial": "17736741", - "seed": 20260925, - "queries": 5000, - "tracker_visible_fraction": 0.9698733197556008, - "frame0_status": { - "ambiguous_frame0_instance": 5, - "invalid_depth_at_frame0": 18, - "member": 4940, - "no_instance_mask_at_frame0": 37 - }, - "frame0_members": { - "object": 681, - "hand_A": 2503, - "hand_B": 1756 - }, - "ambiguous_frame0": { - "rule": "frame-zero pixel in more than one instance mask: excluded from every population (owner decision 2026-09-23)", - "queries": [ - 1210, - 2763, - 2989, - 3683, - 4089 - ], - "instances": [ - [ - "object", - "hand_A" - ], - [ - "object", - "hand_A" - ], - [ - "object", - "hand_A" - ], - [ - "object", - "hand_A" - ], - [ - "object", - "hand_A" - ] - ] - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - } - }, - { - "serial": "23007103", - "seed": 20260926, - "queries": 5000, - "tracker_visible_fraction": 0.9889682281059063, - "frame0_status": { - "ambiguous_frame0_instance": 2, - "invalid_depth_at_frame0": 147, - "member": 4836, - "no_instance_mask_at_frame0": 15 - }, - "frame0_members": { - "object": 672, - "hand_A": 1506, - "hand_B": 2658 - }, - "ambiguous_frame0": { - "rule": "frame-zero pixel in more than one instance mask: excluded from every population (owner decision 2026-09-23)", - "queries": [ - 3236, - 4347 - ], - "instances": [ - [ - "hand_A", - "hand_B" - ], - [ - "hand_A", - "hand_B" - ] - ] - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - } - } - ] -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/annotate_occluder_session1.log b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/annotate_occluder_session1.log deleted file mode 100644 index caa821cb04632f002e16af93105c714d693a23cc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/annotate_occluder_session1.log +++ /dev/null @@ -1,4 +0,0 @@ -Opening offline instance prompt UI on 0.0.0.0:7860 ... -* Running on local URL: http://0.0.0.0:7860 -* To create a public link, set `share=True` in `launch()`. -Closing server running on port: 7860 diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run1.code_head b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run1.code_head deleted file mode 100644 index efa53c2d31a4be30393bb6bc362328a14aad0933..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run1.code_head +++ /dev/null @@ -1 +0,0 @@ -ca659210d50ccad960b10653a0e639d725956aea diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run1.log b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run1.log deleted file mode 100644 index 450cd23d5cba5252f36c39a4db8048136e9774f9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run1.log +++ /dev/null @@ -1,25 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/fitting_run1/fitting_observations.npz: F=492 K=491; controls per hand {'hand_A': 15, 'hand_B': 15} - Command being timed: "uv run --no-sync python -u scripts/phystwin_real_rgbd.py derive-fitting --frames /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz --tracks /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1 --output /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/fitting_run1" - User time (seconds): 77.71 - System time (seconds): 2.16 - Percent of CPU this job got: 112% - Elapsed (wall clock) time (h:mm:ss or m:ss): 1:11.29 - Average shared text size (kbytes): 0 - Average unshared data size (kbytes): 0 - Average stack size (kbytes): 0 - Average total size (kbytes): 0 - Maximum resident set size (kbytes): 1942492 - Average resident set size (kbytes): 0 - Major (requiring I/O) page faults: 43 - Minor (reclaiming a frame) page faults: 100225 - Voluntary context switches: 27778 - Involuntary context switches: 380969 - Swaps: 0 - File system inputs: 8 - File system outputs: 85416 - Socket messages sent: 0 - Socket messages received: 0 - Signals delivered: 0 - Page size (bytes): 4096 - Exit status: 0 -EXIT 0 diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run2.code_head b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run2.code_head deleted file mode 100644 index 3eb7d4a86ce180e25478a68de8ec153b06bbe4c1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run2.code_head +++ /dev/null @@ -1 +0,0 @@ -f12dddefeb51b98e69fa2925bcdd5586e8c9ccfb diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run2.log b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run2.log deleted file mode 100644 index 32a659aeda47c296fd728f594555cbe8f3f46d99..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/fitting_run2.log +++ /dev/null @@ -1,25 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/fitting_run2/fitting_observations.npz: F=492 K=491; controls per hand {'hand_A': 21, 'hand_B': 9} - Command being timed: "uv run --no-sync python -u scripts/phystwin_real_rgbd.py derive-fitting --frames /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz --tracks /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1 --output /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/fitting_run2" - User time (seconds): 77.33 - System time (seconds): 2.15 - Percent of CPU this job got: 112% - Elapsed (wall clock) time (h:mm:ss or m:ss): 1:10.70 - Average shared text size (kbytes): 0 - Average unshared data size (kbytes): 0 - Average stack size (kbytes): 0 - Average total size (kbytes): 0 - Maximum resident set size (kbytes): 1942268 - Average resident set size (kbytes): 0 - Major (requiring I/O) page faults: 44 - Minor (reclaiming a frame) page faults: 100567 - Voluntary context switches: 27549 - Involuntary context switches: 463494 - Swaps: 0 - File system inputs: 8 - File system outputs: 85688 - Socket messages sent: 0 - Socket messages received: 0 - Signals delivered: 0 - Page size (bytes): 4096 - Exit status: 0 -EXIT 0 diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/lift_run1.log b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/lift_run1.log deleted file mode 100644 index fb58e13fff1fafdc7a40578ea9fc9a2824bfc809..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/lift_run1.log +++ /dev/null @@ -1,28 +0,0 @@ -12540311: members {'object': 674, 'hand_A': 2635, 'hand_B': 1642} -12933256: members {'object': 539, 'hand_A': 1799, 'hand_B': 2615} -17736741: members {'object': 681, 'hand_A': 2503, 'hand_B': 1756} -23007103: members {'object': 672, 'hand_A': 1506, 'hand_B': 2658} - Command being timed: "uv run --no-sync python -u scripts/phystwin_real_rgbd.py lift --session /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148 --frames /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz --annotations /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/annotations --masks /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/masks --signoff /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff.json --tracks /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/tracks_run1 --output /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/lifted_run1" - User time (seconds): 58.86 - System time (seconds): 5.57 - Percent of CPU this job got: 183% - Elapsed (wall clock) time (h:mm:ss or m:ss): 0:35.03 - Average shared text size (kbytes): 0 - Average unshared data size (kbytes): 0 - Average stack size (kbytes): 0 - Average total size (kbytes): 0 - Maximum resident set size (kbytes): 2803200 - Average resident set size (kbytes): 0 - Major (requiring I/O) page faults: 0 - Minor (reclaiming a frame) page faults: 215860 - Voluntary context switches: 813 - Involuntary context switches: 131436 - Swaps: 0 - File system inputs: 8 - File system outputs: 1080184 - Socket messages sent: 0 - Socket messages received: 0 - Signals delivered: 0 - Page size (bytes): 4096 - Exit status: 0 -EXIT 0 diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/propagate_occluder_run1.code_head b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/propagate_occluder_run1.code_head deleted file mode 100644 index b249481316f61c4d21e093eb7fc317d92da4db4f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/propagate_occluder_run1.code_head +++ /dev/null @@ -1 +0,0 @@ -3d4fe5d757d9d1df0582c0c8e9e31ad1140ced7c diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/propagate_occluder_run1.log b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/propagate_occluder_run1.log deleted file mode 100644 index 2239d5a49d094b18eab5e230d996cb7727e54644..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/logs/propagate_occluder_run1.log +++ /dev/null @@ -1,35 +0,0 @@ - propagate in video: 0%| | 0/491 [00:00 --frames inspection/frames.npz - --annotations annotations --masks masks --signoff review_signoff.json --checkpoint scaled_online.pth - --seed 20260923 --device cuda --output tracks_run1` (view v uses seed 20260923 + v). Log: ../logs/track_run1.log. -- Masks: exactly the 12 owner-signed-off R2 runs/prompts (review_signoff.json verified: binding, frames.npz - sha256, run sha256, sole supplying run, current prompts). -- Tracker: pinned co-tracker 82e02e80 (clean), CoTracker3 online, scaled_online.pth - sha256 in track_report.json, window 16 / step 8, 61 windows ending at t=491, 5000 frame-0 queries per view. -- Cost: 6 min 28 s wall clock for all 4 views (tracking + one lift), 4.3 GB peak RSS, about 9 GB GPU. -- Products: tracks_.npz (raw ViewTracks, all 4 views); lifted_12933256.npz; track_report.json. -- Frame-zero ambiguity (tracker-visible, valid depth, pixel inside two accepted masks): - 12540311 q3044 object+hand_A; 17736741 q1210 q2763 q2989 q3683 q4089 object+hand_A (the 49 px - object/hand_A seed overlap near px (985, 770)); 23007103 q3236 q4347 hand_A+hand_B (the 12 px seed overlap). -- Review aids: ../tracks_run1_review/ (overlays, belt crops, 30/10 fps videos, material_order hue strips - and summaries). Agent pre-check only: frame-0 belt-position order is preserved in the checked views with - no visible swaps; belt coverage drops during fast motion / edge-on phases (in-mask median 341-536 of - 544-716 belt tracks per view, minimum 67 in 12933256 at t=151) and some tracks leave the thin belt mask - (dropped by the mask rule). Fine along-belt sliding is not excluded by this check. - -Update 2026-09-23: the owner chose to exclude the 8 ambiguous frame-zero points. All four views were -re-lifted from these raw tracks into ../lifted_run1/ (lift subcommand, 35 s); lifted_12933256.npz here is -bit-identical to ../lifted_run1/lifted_12933256.npz. The fitting bundle is ../fitting_run1/. diff --git a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/tracks_run1/track_report.json b/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/tracks_run1/track_report.json deleted file mode 100644 index 24ae89c5caffd2ac93ba8acb8830594beb0226f6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/tracks_run1/track_report.json +++ /dev/null @@ -1,79 +0,0 @@ -{ - "inputs": { - "frames": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz", - "annotations": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/annotations", - "masks": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/masks" - }, - "mask_signoff": { - "signoff": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff.json", - "signoff_sha256": "5b5568fbf6abc9bc6150496bf58e377d14d6fc698455c8578108b1d4abd35f7e", - "reviewed_by": "owner", - "decision": "accepted all views and instances", - "date": "2026-09-23", - "labelling_as_accepted": "hand_A = hand wearing the metal bracelet in every view; hands span sleeve cuff to fingertips incl. bare forearm, bracelet excluded; object = visible belt pixels, loop opening background" - }, - "tracker": { - "tracker": "CoTracker3 online (CoTrackerOnlinePredictor, v2=False)", - "source": "/mnt/data0/magna/belt_perception_wt_phystwin_real_rgbd_r3_tracks/co-tracker", - "commit": "82e02e8029753ad4ef13cf06be7f4fc5facdda4d", - "checkpoint": "/mnt/data0/magna/.cache/torch/hub/checkpoints/scaled_online.pth", - "checkpoint_sha256": "205d34789f19699d64b22cf93f9b697f15f28d4025240e31532e504109837218", - "window_len": 16, - "step": 8, - "model_size_hw": [ - 384, - 512 - ], - "iters": 6, - "visibility_rule": "sigmoid(vis) * sigmoid(conf) > 0.6", - "resize": "bilinear align_corners=True native -> model; query/track scale (size_model - 1) / (size_native - 1)", - "crop": null, - "support_grid": false, - "device": "cuda", - "torch": "2.11.0+cu128" - }, - "views": [ - { - "serial": "12540311", - "seed": 20260923, - "queries": 5000, - "tracker_visible_fraction": 0.9619091649694501, - "lift_error": "view 12540311: 1 frame-zero track pixels lie in more than one instance mask (queries [3044]); instance identity is ambiguous, review the R2 masks" - }, - { - "serial": "12933256", - "seed": 20260924, - "queries": 5000, - "tracker_visible_fraction": 0.9698301425661915, - "frame0_status": { - "invalid_depth_at_frame0": 35, - "member": 4953, - "no_instance_mask_at_frame0": 12 - }, - "frame0_members": { - "object": 539, - "hand_A": 1799, - "hand_B": 2615 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - } - }, - { - "serial": "17736741", - "seed": 20260925, - "queries": 5000, - "tracker_visible_fraction": 0.9698733197556008, - "lift_error": "view 17736741: 5 frame-zero track pixels lie in more than one instance mask (queries [1210, 2763, 2989, 3683, 4089]); instance identity is ambiguous, review the R2 masks" - }, - { - "serial": "23007103", - "seed": 20260926, - "queries": 5000, - "tracker_visible_fraction": 0.9889682281059063, - "lift_error": "view 23007103: 2 frame-zero track pixels lie in more than one instance mask (queries [3236, 4347]); instance identity is ambiguous, review the R2 masks" - } - ] -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/photo-observations-v1-0058966e635f5429/native/manifest.json b/sessions/session_20260921_225630_786148/preprocessing/photo-observations-v1-0058966e635f5429/native/manifest.json deleted file mode 100644 index deb81f94bd6250bdde9a5c308adc46924be74cd0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/photo-observations-v1-0058966e635f5429/native/manifest.json +++ /dev/null @@ -1,15931 +0,0 @@ -{ - "schema": "real_rgbd_photometric_observation_cache_v1", - "key": "0058966e635f54298ddcd07fd5b2b2de204ee3ffd7a63a85f8a0bc0b78b55635", - "identity": { - "schema": "real_rgbd_photometric_observation_cache_v1", - "inputs": { - "frames_sha256": "4967cc1abfa33f9b55af0905b6ba71e9f8b8614783f9901752d2f2617abe53c6", - "depth_source": "waft_stereo_dav2l5", - "session_inventory": { - "metadata/session_manifest.parquet": "e6b473661fe76dc20258e847e0967dc88674aba942a39d98f0c057a372200cbd", - "metadata/streams.parquet": "ca6e6fde280ee8cf0bc3c997bc9d5255827867919cbe7d751f05a29cbb2c931f", - "metadata/videos.parquet": "b26a5a816963c0bb86c5bbeb998569d3605299c33e2da53c745109af0dd73f86", - "tables/frames.parquet": "e13e3fd1db5ab37bd44c7d34cb1d3f10c05d01ab0f09eddf716ec8cb1540bd0b" - }, - "native_frames_sha256": "e230e5322a2750481181aca1b37d2b89b73cebff9467fa54de98bb095eff5f51", - "association_sha256": "0a56731c48579dc38dde7c073c78c708b335190ae102db00bbfcdcecf60bb7df", - "mask_signoffs": { - "review_signoff.json": "5b5568fbf6abc9bc6150496bf58e377d14d6fc698455c8578108b1d4abd35f7e", - "review_signoff_occluder.json": "6f12988f44d8db02d1d487e2c641a493354388df4ba638de8daf36dc0ec9d2ff" - }, - "processed_H": "dilate8(hand_A | hand_B | occluder); photometric_inputs.occlusion_mask" - 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"member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 0, - "offset_from_anchor_ms_min_median_max": [ - 0.0, - 0.0, - 0.0 - ] - }, - { - "serial": "12933256", - "queries": 5000, - "frame0_status": { - "ambiguous_frame0_instance": 1, - "member": 4701, - "no_instance_mask_at_frame0": 298 - }, - "frame0_members": { - "object": 294, - "hand_A": 1797, - "hand_B": 2610 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 46, - "offset_from_anchor_ms_min_median_max": [ - -6.788030999999999, - -1.04854, - 2.256017 - ] - }, - { - "serial": "17736741", - "queries": 5000, - "frame0_status": { - "ambiguous_frame0_instance": 5, - "member": 4633, - "no_instance_mask_at_frame0": 362 - }, - "frame0_members": { - "object": 370, - "hand_A": 2509, - "hand_B": 1754 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 0, - "offset_from_anchor_ms_min_median_max": [ - 7.132026, - 10.241607, - 14.674681 - ] - }, - { - "serial": "23007103", - "queries": 5000, - "frame0_status": { - "ambiguous_frame0_instance": 2, - "member": 4582, - "no_instance_mask_at_frame0": 416 - }, - "frame0_members": { - "object": 355, - "hand_A": 1526, - "hand_B": 2701 - }, - "mask_uncovered_frames": { - "object": 0, - "hand_A": 0, - "hand_B": 0 - }, - "member_samples_with_unknown_mask": 0, - "hand_samples_off_own_hand_mask": 0, - "offset_from_anchor_ms_min_median_max": [ - -7.839954, - -1.035583, - 4.2294149999999995 - ] - } - ], - "object": { - "candidates": { - "12540311": { - "object": 385 - }, - "12933256": { - "object": 294 - }, - "17736741": { - "object": 370 - }, - "23007103": { - "object": 355 - } - }, - "no_valid_first_sample": { - "12540311": { - "object": 46 - }, - "12933256": { - "object": 47 - }, - "17736741": { - "object": 0 - }, - "23007103": { - "object": 53 - } - }, - "exact_frame0_duplicate": { - "12540311": { - "object": 3 - }, - "12933256": { - "object": 1 - }, - "17736741": { - "object": 40 - }, - "23007103": { - "object": 2 - } - }, - "voxel_mate": { - "12540311": { - "object": 166 - }, - "12933256": { - "object": 123 - }, - "17736741": { - "object": 140 - }, - "23007103": { - "object": 172 - } - }, - "selected": { - "12540311": { - "object": 170 - }, - "12933256": { - "object": 123 - }, - "17736741": { - "object": 190 - }, - "23007103": { - "object": 128 - } - }, - "representatives": 611, - "visible_per_sample_min_median_max": [ - 353, - 496, - 611 - ], - "motion_valid_per_transition_min_median_max": [ - 312, - 466, - 530 - ], - "captured_denominators": { - "D_V = sum V[1]": 534, - "D_M = sum M[0]": 505 - }, - "admitted_motion_valid_per_transition_min_median_max": [ - 659, - 967, - 1099 - ] - }, - "hands": { - "candidates": { - "12540311": { - "hand_A": 2647, - "hand_B": 1645 - }, - "12933256": { - "hand_A": 1797, - "hand_B": 2610 - }, - "17736741": { - "hand_A": 2509, - "hand_B": 1754 - }, - "23007103": { - "hand_A": 1526, - "hand_B": 2701 - } - }, - "not_visible_all_frames": { - "12540311": { - "hand_A": 407, - "hand_B": 352 - }, - "12933256": { - "hand_A": 430, - "hand_B": 419 - }, - "17736741": { - "hand_A": 440, - "hand_B": 321 - }, - "23007103": { - "hand_A": 370, - "hand_B": 622 - } - }, - "motion_filter_rejected": { - "12540311": { - "hand_A": 340, - "hand_B": 645 - }, - "12933256": { - "hand_A": 394, - "hand_B": 367 - }, - "17736741": { - "hand_A": 471, - "hand_B": 314 - }, - "23007103": { - "hand_A": 729, - "hand_B": 1130 - } - }, - "beyond_controller_gate": { - "12540311": { - "hand_A": 1900, - "hand_B": 616 - }, - "12933256": { - "hand_A": 852, - "hand_B": 1824 - }, - "17736741": { - "hand_A": 1565, - "hand_B": 1053 - }, - "23007103": { - "hand_A": 211, - "hand_B": 867 - } - }, - "not_fps_selected": { - "12540311": { - "hand_A": 0, - "hand_B": 29 - }, - "12933256": { - "hand_A": 116, - "hand_B": 0 - }, - "17736741": { - "hand_A": 30, - "hand_B": 60 - }, - "23007103": { - "hand_A": 208, - "hand_B": 77 - } - }, - "selected": { - "12540311": { - "hand_A": 0, - "hand_B": 3 - }, - "12933256": { - "hand_A": 5, - "hand_B": 0 - }, - "17736741": { - "hand_A": 3, - "hand_B": 6 - }, - "23007103": { - "hand_A": 8, - "hand_B": 5 - } - } - }, - "controllers": { - "selected": 30, - "per_hand": { - "hand_A": 16, - "hand_B": 14 - }, - "per_view_hand": { - "12540311": { - "hand_A": 0, - "hand_B": 3 - }, - "12933256": { - "hand_A": 5, - "hand_B": 0 - }, - "17736741": { - "hand_A": 3, - "hand_B": 6 - }, - "23007103": { - "hand_A": 8, - "hand_B": 5 - } - }, - "failure": null - }, - "missing_controller_gate": { - "passed": true, - "controls_per_hand": { - "hand_A": 16, - "hand_B": 14 - } - }, - "grid": { - "rate_hz": 30, - "period_ns": "1000000000/30", - "origin_ns": 1790045828176911549, - "sample_count_F": 492, - "transition_count_K": 491, - "last_sample_ns": "5370137533630734647/3", - "common_support_ns": [ - 1790045828176911549, - 1790045844557380893 - ], - "annotation_half_open_ns": [ - 1790045828160000000, - 1790045844570000000 - ], - "unsampled_leading_ms_vs_annotation": 16.911549, - "unsampled_trailing_ms_vs_annotation": 26.42178433333333, - "unsampled_trailing_ms_vs_common_support": 13.802677333333333 - }, - "controller_pool": { - "controller_gate_m": 0.04, - "survivors": { - "12540311": { - "hand_A": 1900, - "hand_B": 648 - }, - "12933256": { - "hand_A": 973, - "hand_B": 1824 - }, - "17736741": { - "hand_A": 1598, - "hand_B": 1119 - }, - "23007103": { - "hand_A": 427, - "hand_B": 949 - } - }, - "pool": { - "12540311": { - "hand_A": 0, - "hand_B": 32 - }, - "12933256": { - "hand_A": 121, - "hand_B": 0 - }, - "17736741": { - "hand_A": 33, - "hand_B": 66 - }, - "23007103": { - "hand_A": 216, - "hand_B": 82 - } - }, - "survivor_distance_to_belt_mm_p5_p50_p95": { - "hand_A": [ - 34.3, - 95.6, - 176.7 - ], - "hand_B": [ - 43.0, - 91.0, - 162.9 - ] - }, - "selected_distance_to_belt_mm_max": 39.8681290272007 - }, - "derived_reasons": { - "0": "valid", - "1": "exact raw sample not valid", - "2": "left raw bracket sample not valid", - "3": "right raw bracket sample not valid", - "4": "both raw bracket samples not valid", - "5": "target outside the view's recorded times (no extrapolation)" - }, - "candidate_samples_by_reason": { - "object": { - "valid": 526152, - "left raw bracket sample not valid": 22799, - "right raw bracket sample not valid": 22965, - "both raw bracket samples not valid": 118852 - }, - "hand": { - "valid": 8036664, - "left raw bracket sample not valid": 43723, - "right raw bracket sample not valid": 45046, - "both raw bracket samples not valid": 331555 - } - } - }, - "initialization": { - "nodes": 611, - "controls": 30, - "total_source_mass_units": 611.0, - "clock": { - "period_s": "1/30", - "num_substeps": 667, - "substep_dt_s": 4.9975012493753125e-05, - "consumed_substep_dt_f32": 4.997501309844665e-05, - "consumed_interval_minus_period_s": 4.0333058374623455e-10, - "transitions": 491, - "consumed_total_minus_period_total_s": 1.9803531661940118e-07, - "source_literal_period_s_not_used": 0.033350000000000005 - }, - "source_settings": { - "spring_y": 30000.0, - "object_radius_m": 0.02, - "object_max_neighbours": 30, - "controller_radius_m": 0.04, - "controller_max_neighbours": 50, - "ground_restitution": 0.5, - "ground_friction": 0.3, - "object_restitution": 0.7, - "object_friction": 0.3, - "collision_distance_m": 0.02, - "drag_damping": 3.0, - "dashpot_damping": 100.0 - }, - "gravity_mps2": [ - 0.0, - 0.0, - -9.8 - ], - "ground_height_m": 0.0, - "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 - ] - ], - "staging": { - "max_abs_object_staging_shift_m": 1.2736327104079237e-08, - "max_abs_controller_staging_shift_m": 1.4162767070224902e-08, - "object_nodes": 611, - "populations": { - "N": 611, - "S": 611, - "A": 611, - "added_surface": 0, - "interior": 0 - }, - "max_abs_added_surface_staging_shift_m": 0.0, - "max_abs_interior_staging_shift_m": 0.0, - "object_nodes_coincident_after_staging": 0 - }, - "source_center_graph": { - "object_springs": 8406, - "controller_springs": 416, - "object_rest_min_max_m": [ - 0.0002314841258339584, - 0.01999509148299694 - ], - "controller_rest_min_max_m": [ - 0.006648776587098837, - 0.03996242955327034 - ], - "isolated_object_nodes": 0, - "attached_object_nodes": 135, - "controls_without_attachment": 0, - "attachments_by_hand": { - "hand_A": 253, - "hand_B": 163 - } - }, - "source_center_model": { - "directory": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/fitting/source_center_model", - "purpose": "pre-fit inspection", - "device": "cpu" - } - } -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/checkpoints/tapnextpp_512.identity.json b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/checkpoints/tapnextpp_512.identity.json deleted file mode 100644 index dcf284baa31e909a589e7ef76bd6fc84d18ee560..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/checkpoints/tapnextpp_512.identity.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - 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diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/inputs/audit_verification.md b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/inputs/audit_verification.md deleted file mode 100644 index 5eb6ecaec3849c7029d463d6dc4ec03618fc96fc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/inputs/audit_verification.md +++ /dev/null @@ -1,30 +0,0 @@ -# RT1 input inventory: independent verification - -**Verdict:** pass. The retained inventory selects the verified canonical WAFT streams. No material input mismatch was found. This audit generated no tracks, model inputs, or remote artifacts. - -- Audited merged code: `9b660087bba9546436d97e9ef71f03fcdb188747`. -- Inventory checked before writing this report: `input_inventory.json`, SHA-256 `414f3f245b80ebca11a4fd7bcb46a17ffe66d4814dba06b`. -- Audit execution: separate clean worktree `cursor/rt1_inventory_audit_20260926`; read-only against the canonical converted session, WAFT copy, and RT inventory outputs. - -## Checks and results - -The merged `bind_waft_inputs` loader independently accepted the canonical WAFT session and saved frame bundle against the original signed native bundle. It re-derived the selected frames, checked recorded K and packaged camera poses, compared all non-depth frame fields, verified identical left RGB bytes between loader roots, and loaded all 16 signed mask sets. Both sign-offs matched the signed frame SHA-256; every accepted mask run and prompt hash matched, all 491 frames were covered by the accepted run, and native versus WAFT mask pixels agreed. - -I separately used `SelectedFrameReader` and the session index to decode every selected RGB/depth pair: **491 per view, 1,964 pairs total**. For each pair, source RGB/depth sync timestamps and recorded RGB device, official, and native-container identities matched the selected frame bundle. Every decoded RGB was `uint8 [1080,1920,3]`; every decoded depth was `uint16 [1080,1920]`. The selected indices were contiguous and matched the retained ranges. Recomputed raw valid (`0 < depth < 8191`), zero, and saturation (`depth >= 8191`) pixel totals matched the inventory: - -| View | Converted RGB / WAFT depth indices, half-open | Native-container indices, half-open | Valid | Zero | Saturated or above | -|---|---|---|---:|---:|---:| -| 12540311 | [403,894) | [404,895) | 968,575,189 | 49,562,307 | 104 | -| 12933256 | [403,894) | [404,895) | 996,373,529 | 21,763,980 | 91 | -| 17736741 | [404,895) | [405,896) | 974,328,582 | 43,808,979 | 39 | -| 23007103 | [403,894) | [404,895) | 937,002,543 | 81,110,238 | 24,819 | - -Each view's zdepth header exactly matched the retained header: `dataset_converter_zdepth_sequence_v1`, original and padded 1920×1080, `depth_unit_m=0.001`, zero invalid, `max_depth_m=8.191`, `kNotQuantized8191mm`, and GOP 30. Full-session header frame counts were 1180, 1180, 1181, and 1179 in the view order above; all selected indices were in range. The decoded depth conversion treats zero and 8191 or above as invalid, as checked by the inventory loader. - -I rehashed all four canonical WAFT zdepth files and all four canonical left RGB MKVs; every SHA-256 matched `input_inventory.json` and the approved WAFT depth hashes. The native frame bundle, canonical selected frame bundle, and two sign-off hashes also matched their retained identities. I visually inspected `contact_sheets/{12540311,12933256,17736741,23007103}.png`: each has native RGB, signed-mask overlay, and WAFT depth for selected times 0, 245, and 490. `RT_ROOT` contained only the inventory JSON, human-readable report, and those four PNGs before this audit report was added. - -## Source-write observation and limitation - -The merged inventory command writes under the new RT output directory. A post-run scan found **zero** canonical-session files and **zero** approved WAFT-copy files modified after `2026-09-27 00:20 UTC`, before the inventory directory was created; no source write was observed. The audit itself only read those sources. - -`./scripts/agent_final_check.sh` returned exit 1 in this no-install audit worktree because the uninitialized `third_party/phystwin` submodule makes six links in an unrelated plan appear missing. Worktree hygiene was clean, and this docs check does not affect the decoded inventory verdict. diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/inputs/input_inventory.json b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/inputs/input_inventory.json deleted file mode 100644 index b19d311ea5bc5992f06bc0e5d7fecbad7d570d4f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/inputs/input_inventory.json +++ /dev/null @@ -1,436 +0,0 @@ -{ - "binding_route": "canonical", - "depth_source": "waft_stereo_dav2l5", - "kind": "real_rgbd_rt1_waft_input_inventory_v1", - "mask_sets": [ - "12540311/hand_A", - "12540311/hand_B", - "12540311/object", - "12540311/occluder", - "12933256/hand_A", - "12933256/hand_B", - "12933256/object", - "12933256/occluder", - "17736741/hand_A", - "17736741/hand_B", - "17736741/object", - "17736741/occluder", - "23007103/hand_A", - "23007103/hand_B", - "23007103/object", - "23007103/occluder" - ], - "merged_code_commit": "9b660087bba9546436d97e9ef71f03fcdb188747", - "native_frames": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz", - "native_frames_sha256": "e230e5322a2750481181aca1b37d2b89b73cebff9467fa54de98bb095eff5f51", - "native_session": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148", - "selected_frames": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/photometric_depth_waft_stereo_dav2l5_20260926_canonical/frames.npz", - "selected_frames_sha256": "4967cc1abfa33f9b55af0905b6ba71e9f8b8614783f9901752d2f2617abe53c6", - "selected_pairing_check": { - "metric_depth_zero_and_saturation_invalid": true, - "native_size_decoder_shape_checked": true, - "pairs_per_view": 491, - "rgb_depth_sync_time_equal": true, - "rgb_selected_native_identity_equal": true - }, - "selected_session": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148", - "session_id": "session_20260921_225630_786148", - "signoffs": { - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff.json": "5b5568fbf6abc9bc6150496bf58e377d14d6fc698455c8578108b1d4abd35f7e", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff_occluder.json": "6f12988f44d8db02d1d487e2c641a493354388df4ba638de8daf36dc0ec9d2ff" - }, - "views": { - "12540311": { - "K": [ - [ - 1505.6763916015625, - 0.0, - 975.8055419921875 - ], - [ - 0.0, - 1505.6763916015625, - 520.247314453125 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "decoded_depth_pixels": { - "saturated_or_above": 104, - "valid": 968575189, - "zero": 49562307 - }, - "depth_file": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth", - "depth_file_sha256": "5429f2cd45c93ad2f986e199cd8062f6e4c222943f5cbb5ab7946bbc866419f1", - "depth_stream_id": "zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth", - "image_size_hw": [ - 1080, - 1920 - ], - "rgb": { - "native_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_12540311_left_rgb.mkv", - "relative_path": "videos/zed_12540311_left_rgb.mkv", - "selected_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_12540311_left_rgb.mkv", - "sha256": "d34d5db0f9d8fcd65f0b5fd86190144d6d5981d13345703f22cd87f8d8f6bdbf", - "stream_id": "zed_12540311_left_rgb" - }, - "selected_frames": 491, - "selected_indices": { - "all_contiguous": true, - "converted_frame_half_open": [ - 403, - 894 - ], - "depth_frame_half_open": [ - 403, - 894 - ], - "native_container_half_open": [ - 404, - 895 - ] - }, - "world_T_camera": [ - [ - -0.9144937167818797, - 0.10007620818449822, - -0.39202805323328105, - 0.37861749362037694 - ], - [ - 0.3077938516881098, - 0.8009690151840932, - -0.5135285596517702, - 0.35865096273259595 - ], - [ - 0.2626103326784023, - -0.5902824656640555, - -0.7632839733022709, - 0.9747715436172444 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ], - "zdepth_header": { - "container_format": "dataset_converter_zdepth_sequence_v1", - "depth_unit_m": 0.001, - "encode_mode": "kNotQuantized8191mm", - "encode_mode_value": 5, - "frame_count": 1180, - "gop": 30, - "invalid_value": 0, - "max_depth_m": 8.191, - "original_height": 1080, - "original_width": 1920, - "pad_bottom": 0, - "pad_right": 0, - "padded_height": 1080, - "padded_width": 1920, - "quantization_method": "round_to_nearest_uint16_mm", - "zdepth_commit": "abc01e77ed5a905fbd87c2f011cfcf50653cfbda" - } - }, - "12933256": { - "K": [ - [ - 1485.1876220703125, - 0.0, - 1016.4954833984375 - ], - [ - 0.0, - 1485.1876220703125, - 529.3933715820312 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "decoded_depth_pixels": { - "saturated_or_above": 91, - "valid": 996373529, - "zero": 21763980 - }, - "depth_file": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth", - "depth_file_sha256": "6ad35616256c371682b77f3bb716b6ef73bb465e0cf39406f91167f28630f11d", - "depth_stream_id": "zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth", - "image_size_hw": [ - 1080, - 1920 - ], - "rgb": { - "native_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_12933256_left_rgb.mkv", - "relative_path": "videos/zed_12933256_left_rgb.mkv", - "selected_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_12933256_left_rgb.mkv", - "sha256": "d148b608448e205acc98c5659642c38ed64a7eb76ba0813b97ba88e276d7a6be", - "stream_id": "zed_12933256_left_rgb" - }, - "selected_frames": 491, - "selected_indices": { - "all_contiguous": true, - "converted_frame_half_open": [ - 403, - 894 - ], - "depth_frame_half_open": [ - 403, - 894 - ], - "native_container_half_open": [ - 404, - 895 - ] - }, - "world_T_camera": [ - [ - 0.8077573270131925, - 0.19001448773870203, - -0.558052502105224, - 0.6950866726146973 - ], - [ - 0.5752210198592748, - -0.4612402649967796, - 0.6755576927678023, - -0.8347046984835544 - ], - [ - -0.1290305350239159, - -0.8666902055493064, - -0.4818705309897491, - 0.5782811473286448 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ], - "zdepth_header": { - "container_format": "dataset_converter_zdepth_sequence_v1", - "depth_unit_m": 0.001, - "encode_mode": "kNotQuantized8191mm", - "encode_mode_value": 5, - "frame_count": 1180, - "gop": 30, - "invalid_value": 0, - "max_depth_m": 8.191, - "original_height": 1080, - "original_width": 1920, - "pad_bottom": 0, - "pad_right": 0, - "padded_height": 1080, - "padded_width": 1920, - "quantization_method": "round_to_nearest_uint16_mm", - "zdepth_commit": "abc01e77ed5a905fbd87c2f011cfcf50653cfbda" - } - }, - "17736741": { - "K": [ - [ - 1509.0406494140625, - 0.0, - 954.2996826171875 - ], - [ - 0.0, - 1509.0406494140625, - 518.1402587890625 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "decoded_depth_pixels": { - "saturated_or_above": 39, - "valid": 974328582, - "zero": 43808979 - }, - "depth_file": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth", - "depth_file_sha256": "ba88326f42636f90de011602feb308a1e7051dd90f6a053c40a29a9e4cd45f4e", - "depth_stream_id": "zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth", - "image_size_hw": [ - 1080, - 1920 - ], - "rgb": { - "native_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_17736741_left_rgb.mkv", - "relative_path": "videos/zed_17736741_left_rgb.mkv", - "selected_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_17736741_left_rgb.mkv", - "sha256": "35bce7d8514448baac61cca5aaf6cb2bae044f7a8adc4ceba917e285086cc89a", - "stream_id": "zed_17736741_left_rgb" - }, - "selected_frames": 491, - "selected_indices": { - "all_contiguous": true, - "converted_frame_half_open": [ - 404, - 895 - ], - "depth_frame_half_open": [ - 404, - 895 - ], - "native_container_half_open": [ - 405, - 896 - ] - }, - "world_T_camera": [ - [ - -0.8925121324413582, - -0.22918263717893864, - 0.3884551611971282, - -0.33081317530788323 - ], - [ - -0.40861629466961774, - 0.7754814880208666, - -0.48131194195387966, - 0.3636141220708792 - ], - [ - -0.19093144627182804, - -0.5883058562964079, - -0.7857743965489707, - 0.9671273536451334 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ], - "zdepth_header": { - "container_format": "dataset_converter_zdepth_sequence_v1", - "depth_unit_m": 0.001, - "encode_mode": "kNotQuantized8191mm", - "encode_mode_value": 5, - "frame_count": 1181, - "gop": 30, - "invalid_value": 0, - "max_depth_m": 8.191, - "original_height": 1080, - "original_width": 1920, - "pad_bottom": 0, - "pad_right": 0, - "padded_height": 1080, - "padded_width": 1920, - "quantization_method": "round_to_nearest_uint16_mm", - "zdepth_commit": "abc01e77ed5a905fbd87c2f011cfcf50653cfbda" - } - }, - "23007103": { - "K": [ - [ - 1054.244873046875, - 0.0, - 969.405029296875 - ], - [ - 0.0, - 1054.244873046875, - 516.3914794921875 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "decoded_depth_pixels": { - "saturated_or_above": 24819, - "valid": 937002543, - "zero": 81110238 - }, - "depth_file": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth", - "depth_file_sha256": "ffb5bc058a27d7aa3c9342410533d9532b39a6b2b7eb8326acb942ccd0f4ed4f", - "depth_stream_id": "zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth", - "image_size_hw": [ - 1080, - 1920 - ], - "rgb": { - "native_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_23007103_left_rgb.mkv", - "relative_path": "videos/zed_23007103_left_rgb.mkv", - "selected_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148/videos/zed_23007103_left_rgb.mkv", - "sha256": "3ed30f868599996f6df609c73c4cf5d7a481914ecbddf7bf5bfc719ccc4b6565", - "stream_id": "zed_23007103_left_rgb" - }, - "selected_frames": 491, - "selected_indices": { - "all_contiguous": true, - "converted_frame_half_open": [ - 403, - 894 - ], - "depth_frame_half_open": [ - 403, - 894 - ], - "native_container_half_open": [ - 404, - 895 - ] - }, - "world_T_camera": [ - [ - 0.7419343177393473, - -0.27362953921337524, - 0.6120950444420581, - -0.5916520560802326 - ], - [ - -0.6582718189581921, - -0.4706528556169379, - 0.5875066824003747, - -0.6322488212026725 - ], - [ - 0.12732509778563783, - -0.8388162878541985, - -0.5293161198229089, - 0.5168520851731121 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ], - "zdepth_header": { - "container_format": "dataset_converter_zdepth_sequence_v1", - "depth_unit_m": 0.001, - "encode_mode": "kNotQuantized8191mm", - "encode_mode_value": 5, - "frame_count": 1179, - "gop": 30, - "invalid_value": 0, - "max_depth_m": 8.191, - "original_height": 1080, - "original_width": 1920, - "pad_bottom": 0, - "pad_right": 0, - "padded_height": 1080, - "padded_width": 1920, - "quantization_method": "round_to_nearest_uint16_mm", - "zdepth_commit": "abc01e77ed5a905fbd87c2f011cfcf50653cfbda" - } - } - } -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/inputs/report.md b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/inputs/report.md deleted file mode 100644 index f57fb6249aea83ab07638aaa4634f4a6550d351a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/inputs/report.md +++ /dev/null @@ -1,27 +0,0 @@ -# RT1 input inventory - -Session: `session_20260921_225630_786148` - -Selected depth: `waft_stereo_dav2l5` at `/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225630_786148` - -Signed native frames: `/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz` - -Selected frames: `/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/photometric_depth_waft_stereo_dav2l5_20260926_canonical/frames.npz` - -Accepted mask sets: 16 - -- 12540311: 491 RGB/depth pairs at [1080, 1920]; valid 968575189, zero 49562307, saturated or above 104 -- 12933256: 491 RGB/depth pairs at [1080, 1920]; valid 996373529, zero 21763980, saturated or above 91 -- 17736741: 491 RGB/depth pairs at [1080, 1920]; valid 974328582, zero 43808979, saturated or above 39 -- 23007103: 491 RGB/depth pairs at [1080, 1920]; valid 937002543, zero 81110238, saturated or above 24819 - -Binding route: verified canonical WAFT streams (frozen for this run). -Each view has 491 contiguous selected native indices; all selected RGB/depth pairs passed loader timestamp and identity checks. -Depth headers: zdepth sequence v1, 1080x1920, uint16 millimetres, zero invalid, 8.191 m saturation. -- 12540311 native indices [404, 895], converted RGB [403, 894], WAFT depth [403, 894] (half-open) -- 12933256 native indices [404, 895], converted RGB [403, 894], WAFT depth [403, 894] (half-open) -- 17736741 native indices [405, 896], converted RGB [404, 895], WAFT depth [404, 895] (half-open) -- 23007103 native indices [404, 895], converted RGB [403, 894], WAFT depth [403, 894] (half-open) - -Merged loader commit: `9b660087bba9546436d97e9ef71f03fcdb188747`. -Retained visuals: `contact_sheets/.png` for each of the four views, at selected positions 0, 245, and 490. diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/rt3_generation_20260927/fitting/fitting_association.npz b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/rt3_generation_20260927/fitting/fitting_association.npz deleted file mode 100644 index 830c00cc15184f39f3d0549c09dbf8b87be0237e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/rt3_generation_20260927/fitting/fitting_association.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:40688c1c76cd0f58185a3e722e15887c42d29eb840466851f8da2722536e7c34 -size 22776361 diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/rt3_generation_20260927/fitting/fitting_observations.npz b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/rt3_generation_20260927/fitting/fitting_observations.npz deleted file mode 100644 index 2df3ccf8929a1ed2c59dd78e309d9c9cafe0c335..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/rt3_generation_20260927/fitting/fitting_observations.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:436b079bb7c38eecfbb9c9e7a5da041ac58eb731aed99bc211234357a9f85a58 -size 11894777 diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/rt3_generation_20260927/report.json b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/rt3_generation_20260927/report.json deleted file mode 100644 index 76642595e821d2de9ef3bdd18c7a1e5d1a246cc5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/rt3_generation_20260927/report.json +++ /dev/null @@ -1,26479 +0,0 @@ -{ - "kind": "real_rgbd_rt3_lifting_v1", - "depth_source": "waft_stereo_dav2l5", - "selected_frames": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/photometric_depth_waft_stereo_dav2l5_20260926_canonical/frames.npz", - "signed_native_frames": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/inspection/frames.npz", - "tap_raw_dir": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/tracks", - "cotracker_raw_dir": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/tracks_run1", - "views": [ - { - "serial": "12540311", - "queries": 5000, - "fixed_seed_labels": { - "object": 679, - "hand_A": 2665, - "hand_B": 1655, - "": 1 - }, - "admitted_frame0_labels": { - "object": 385, - "hand_A": 2647, - "hand_B": 1645, - "": 323 - }, - "frame0_status": { - "ambiguous_frame0_instance": 1, - "member": 4677, - "no_instance_mask_at_frame0": 322 - 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"purpose": "pre-fit inspection", - "device": "cpu" - } - } -} diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/12540311.stdout.log b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/12540311.stdout.log deleted file mode 100644 index 482c804653a02ff0a8f6179d54b60344961c880f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/12540311.stdout.log +++ /dev/null @@ -1,15 +0,0 @@ -12540311: decoding native frame 0/490 -/mnt/data0/magna/belt_perception_wt_rt2_tapnextpp_full_tracks_20260927/.venv/lib/python3.11/site-packages/torch/functional.py:505: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at /pytorch/aten/src/ATen/native/TensorShape.cpp:4381.) - return _VF.meshgrid(tensors, **kwargs) # type: ignore[attr-defined] -12540311: decoding native frame 50/490 -12540311: decoding native frame 100/490 -12540311: decoding native frame 150/490 -12540311: decoding native frame 200/490 -12540311: decoding native frame 250/490 -12540311: decoding native frame 300/490 -12540311: decoding native frame 350/490 -12540311: decoding native frame 400/490 -12540311: decoding native frame 450/490 -12540311: decoding native frame 490/490 -12540311: raw 491-frame product saved at /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/tracks/tracks_12540311.npz -12540311: complete; inference 60.84s, peak allocated 3.79 GiB diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/12933256.stdout.log b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/12933256.stdout.log deleted file mode 100644 index 895ca7ab660807a221647f9c3e3b9558f7143e00..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/12933256.stdout.log +++ /dev/null @@ -1,15 +0,0 @@ -12933256: decoding native frame 0/490 -/mnt/data0/magna/belt_perception_wt_rt2_tapnextpp_full_tracks_20260927/.venv/lib/python3.11/site-packages/torch/functional.py:505: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at /pytorch/aten/src/ATen/native/TensorShape.cpp:4381.) - return _VF.meshgrid(tensors, **kwargs) # type: ignore[attr-defined] -12933256: decoding native frame 50/490 -12933256: decoding native frame 100/490 -12933256: decoding native frame 150/490 -12933256: decoding native frame 200/490 -12933256: decoding native frame 250/490 -12933256: decoding native frame 300/490 -12933256: decoding native frame 350/490 -12933256: decoding native frame 400/490 -12933256: decoding native frame 450/490 -12933256: decoding native frame 490/490 -12933256: raw 491-frame product saved at /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/tracks/tracks_12933256.npz -12933256: complete; inference 62.12s, peak allocated 3.79 GiB diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/17736741.stdout.log b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/17736741.stdout.log deleted file mode 100644 index c1334ab6e29d311d52e3b3b5ba201cfbb9abd59e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/17736741.stdout.log +++ /dev/null @@ -1,15 +0,0 @@ -17736741: decoding native frame 0/490 -/mnt/data0/magna/belt_perception_wt_rt2_tapnextpp_full_tracks_20260927/.venv/lib/python3.11/site-packages/torch/functional.py:505: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at /pytorch/aten/src/ATen/native/TensorShape.cpp:4381.) - return _VF.meshgrid(tensors, **kwargs) # type: ignore[attr-defined] -17736741: decoding native frame 50/490 -17736741: decoding native frame 100/490 -17736741: decoding native frame 150/490 -17736741: decoding native frame 200/490 -17736741: decoding native frame 250/490 -17736741: decoding native frame 300/490 -17736741: decoding native frame 350/490 -17736741: decoding native frame 400/490 -17736741: decoding native frame 450/490 -17736741: decoding native frame 490/490 -17736741: raw 491-frame product saved at /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/tracks/tracks_17736741.npz -17736741: complete; inference 60.86s, peak allocated 3.79 GiB diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/23007103.stdout.log b/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/23007103.stdout.log deleted file mode 100644 index e52e0df1571dcc46c02463f8c21ca0d2ca30221d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/23007103.stdout.log +++ /dev/null @@ -1,15 +0,0 @@ -23007103: decoding native frame 0/490 -/mnt/data0/magna/belt_perception_wt_rt2_tapnextpp_full_tracks_20260927/.venv/lib/python3.11/site-packages/torch/functional.py:505: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at /pytorch/aten/src/ATen/native/TensorShape.cpp:4381.) - return _VF.meshgrid(tensors, **kwargs) # type: ignore[attr-defined] -23007103: decoding native frame 50/490 -23007103: decoding native frame 100/490 -23007103: decoding native frame 150/490 -23007103: decoding native frame 200/490 -23007103: decoding native frame 250/490 -23007103: decoding native frame 300/490 -23007103: decoding native frame 350/490 -23007103: decoding native frame 400/490 -23007103: decoding native frame 450/490 -23007103: decoding native frame 490/490 -23007103: raw 491-frame product saved at /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/tracks/tracks_23007103.npz -23007103: complete; inference 60.81s, peak allocated 3.79 GiB diff --git a/sessions/session_20260921_225630_786148/preprocessing/rt-waft-tapnextpp-refit-01/native/tracks/run_12540311.json 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