sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1: payload batch 4/4

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json

@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 977.9272203
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_center_v3.log

@@ -0,0 +1,38 @@
+{
+ "populations": {
+  "N": 509,
+  "S": 759,
+  "A": 761,
+  "added_surface": 250,
+  "interior": 2,
+  "controls": 30,
+  "controls_by_hand": {
+   "hand_A": 22,
+   "hand_B": 8
+  }
+ },
+ "denominators": {
+  "D_V": 485,
+  "D_M": 485
+ },
+ "graph": {
+  "object_springs": 11723,
+  "controller_springs": 811,
+  "object_rest_min_max_m": [
+   0.0003515815769787878,
+   0.01999531127512455
+  ],
+  "controller_rest_min_max_m": [
+   0.007556201424449682,
+   0.03999997675418854
+  ],
+  "isolated_object_nodes": 0,
+  "attached_object_nodes": 144,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 629,
+   "hand_B": 182
+  }
+ },
+ "passed": true
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_argv.json

@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/mechanics_v3"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 322.6307347390102
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json

@@ -0,0 +1,38 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "d6188191a44298c7f77bb3c0d4c6a3d3a1aa0b1946b5f7d4d35ac79f64f1775a",
+    "--accepted-prior-manifest-sha256",
+    "c1d2a57413fd6f2933aa17d494936bb67a7a2f94c3acc13fd35ce7782ea67340",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/mechanics_v3/mesh/binding.json",
+    "--premesh-fitting",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/rt3_lifts/fitting",
+    "--mesh-rules",
+    "m2_10mm_centerline_voxels_v3",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 897.8762566870137
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_v2_argv.json

@@ -0,0 +1,34 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "d6188191a44298c7f77bb3c0d4c6a3d3a1aa0b1946b5f7d4d35ac79f64f1775a",
+    "--accepted-prior-manifest-sha256",
+    "c1d2a57413fd6f2933aa17d494936bb67a7a2f94c3acc13fd35ce7782ea67340",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/prior_orange_v1",
+    "--mesh-rules",
+    "m2_10mm_centerline_core_v2",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/mechanics_v2"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_v2_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 228.32166357499955
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_v3_argv.json

@@ -0,0 +1,36 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "d6188191a44298c7f77bb3c0d4c6a3d3a1aa0b1946b5f7d4d35ac79f64f1775a",
+    "--accepted-prior-manifest-sha256",
+    "c1d2a57413fd6f2933aa17d494936bb67a7a2f94c3acc13fd35ce7782ea67340",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/prior_orange_v1",
+    "--mesh-rules",
+    "m2_10mm_centerline_voxels_v3",
+    "--retained-samples-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/mechanics_v2/mesh/binding.json",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0293-0547/accepted_input_preparation_c6a_v1/mechanics_v3"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 342.80820566701004
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md

@@ -0,0 +1,51 @@
+# session_20260921_230550_636767 — prior approved by owner
+
+Saved C2 **orange_round_belt** prior evidence (radius 2.95 mm). **Agent numerical/visual review is complete; owner prior approval remains pending.** The projected centerlines and tube silhouettes follow the visible orange loop in all four initial views without a gross geometry mismatch. Both hand-hidden arcs and the underside remain inferred. The packet is ready for owner review with the depth, contact and missing-arc limitations below; it records no acceptance.
+
+Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](<prior_metrics.json>).
+
+| Camera | Local / converted / native | Centerline / geometry / native input |
+|---|---|---|
+| 12540311 | 0 / 293 / 294 | [centerline](<../prior_orange_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 0 / 293 / 294 | [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 | 1 / 293 / 294 | [centerline](<../prior_orange_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_2_17736741.png>) |
+| 23007103 | 1 / 294 / 295 | [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 **635.162 mm**, maximum curvature **19.101/m**, final gradient norm **8.15715e-05**. Soft length bounds are 635.000–660.000 mm; distance outside those bounds is 0.000 mm. The result is only **0.162 mm above the soft lower bound**, and the saved within-1-mm bound flag is true.
+
+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 | 3.159 / 5.566 | 98.46% | [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 | 5.319 / 7.775 | 96.34% | [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 | 8.250 / 10.437 | 98.88% | [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 | 5.543 / 7.465 | 98.09% | [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 **12645 of 13273** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **12645 observed + 51840 mesh-derived = 64485 seeds**. Vertex colors are observed for 522 mesh vertices and median-filled for 342. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages.
+
+[Appearance seed populations](<../prior_orange_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_orange_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>)
+
+[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>)
+
+[Manifest](<../prior_orange_v1/manifest.json>) · [Fit settings and metrics](<../prior_orange_v1/steps/fit.json>) · [Reference observations](<../prior_orange_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+The native panels show two separate hand-occluded regions. Camera 12540311 has upper and lower foreground gaps; 12933256 has a broad foreground-hand arc plus the upper-right grip; 17736741 has upper and lower-left gaps; and 23007103 has upper-left and right-side gaps. The combined top-view depth cloud also leaves a long upper arc and a shorter lower arc unsupported. The closed projected tube across these masks is an inferred continuation; it does not verify the hidden belt shape or physical hand contact.
+
+**Depth and contact limitation:** the observed cloud is spread above and around the fitted tube in the spatial and hybrid side views. Minimum tube z is **−1.292 mm** relative to the nominal z=0 table plane. The read-only depth diagnostic gives belt-interior-minus-local-table medians of **8.270, 4.899, 7.718 and 4.772 mm** in the listed camera order. These camera-dependent offsets and the depth spread leave vertical placement and table contact uncertain. No depth correction was applied. Camera 17736741 has the largest median / p90 centerline residual, **8.250 / 10.437 mm**; its histogram and camera 23007103 have tails beyond 10 mm.
+
+The spatial views and sampled orbit show a coherent, nearly planar oval without a gross crossing, detached component or sharp kink. One round stopped at the configured gradient tolerance; maximum curvature is 19.101/m and 41.2% of evaluated samples exceed the soft 10/m curvature regularization threshold. That threshold is not a hard acceptance bound, and this review does not establish global optimality. The missing arcs and near-bound length remain model estimates rather than independently observed full-loop measurements. Median-filled colors on the underside and hand-hidden arcs are initialization values, not observed texture.
+
+[Agent findings and exact review coverage](<agent_findings.json>) 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, and the completed temporal-reference review was not repeated.
+
+Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here.
+
+## Owner decision, 2026-10-28
+
+“Approve 230550’s prior.” The exact candidate is accepted for mechanical input preparation and reference static appearance training. [Recorded identity and scope](../../owner_prior_acceptance_c6a_v1.json). Trained appearance acceptance remains separate.

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json

@@ -0,0 +1,187 @@
+{
+  "case": "session_20260921_230550_636767/window_anchor0293-0547",
+  "reviewed_at_utc": "2026-10-28T18:23:38.198847+00:00",
+  "review_kind": "bounded agent review of the completed C2 orange-round-belt prior",
+  "readiness": "ready_for_owner_prior_review_with_recorded_two_hand_occlusion_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 two-hand 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, case-status or global documentation changes"
+    ],
+    "validation": "21 saved images and 9 evenly spaced decoded 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/tube/tube_checks.json",
+    "../prior_orange_v1/inputs/depth_offset_diagnostic.json",
+    "../prior_orange_v1/steps/colors.json",
+    "../prior_orange_v1/steps/hybrid.json"
+  ],
+  "saved_metrics": {
+    "radius_mm": 2.9499999999999997,
+    "reprojection_weight": 4.0,
+    "fit_rounds": 1,
+    "fit_stop": "gradient_tolerance",
+    "gradient_norm": 8.157151751220226e-05,
+    "length_mm": 635.1615786552429,
+    "soft_length_bounds_mm": [
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+      660.0000262260437
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+    "length_above_soft_lower_bound_mm": 0.16158819198608398,
+    "arclength_bound_active_within_1mm": true,
+    "max_curvature_per_m": 19.10107421875,
+    "curvature_regularization_threshold_per_m": 10.0,
+    "fraction_above_curvature_regularization_threshold": 0.412,
+    "tube_vertices": 864,
+    "tube_triangles": 1728,
+    "saved_geometry_checks": {
+      "euler_characteristic": 0,
+      "watertight": true,
+      "components": 1,
+      "winding_consistent": true,
+      "signed_volume_m3": 1.6559821185706083e-05,
+      "minimum_outward_normal_dot_m": 0.0028416018481436846,
+      "degenerate_triangles": 0,
+      "self_intersecting": false,
+      "maximum_radius_error_m": 1.2237843688943373e-08,
+      "maximum_diameter_error_m": 2.4418574808872384e-08,
+      "bishop_seam_error": 1.862645149230957e-09,
+      "minimum_nonadjacent_centerline_distance_m": 0.012221385815545568,
+      "triangle_area_m2": {
+        "min": 4.4097302526485405e-06,
+        "median": 6.929552954632178e-06,
+        "mean": 6.7297954341313965e-06,
+        "max": 8.517333761553683e-06,
+        "density_max_over_min": 1.9314863435100285
+      },
+      "bounds_m": [
+        [
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+          -0.18162016570568085,
+          -0.0012919717701151967
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+          -0.009533781558275223,
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+      "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": {
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+      "12933256": 4.898707255623136,
+      "17736741": 7.717748239482458,
+      "23007103": 4.772024695452126
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+    "depth_correction_applied": false,
+    "per_view": {
+      "12540311": {
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+        "p90_centerline_distance_mm": 5.566017422825098,
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+      "12933256": {
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+        "visible_centerline_inside_mask_fraction": 0.9634146341463414
+      },
+      "17736741": {
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+        "p90_centerline_distance_mm": 10.436889249831438,
+        "visible_centerline_inside_mask_fraction": 0.9887640449438202
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+      "23007103": {
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+        "p90_centerline_distance_mm": 7.46524464339018,
+        "visible_centerline_inside_mask_fraction": 0.9809160305343512
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+    },
+    "appearance_seeds": {
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+      "mesh": 51840,
+      "total": 64485,
+      "mesh_to_observed": 4.099644128113879
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+    "vertex_colors": {
+      "observed_vertices": 522,
+      "filled_vertices": 342
+    },
+    "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 panels show an orange loop with two separate hand-contact or hand-occluded regions. Object masks follow the exposed loop and exclude hidden arcs. No conspicuous invalid-depth overlay patch was seen inside the visible belt at displayed resolution.",
+    "All four projected centerlines and tube silhouettes track the visible belt closely. Small local contour offsets remain, but no gross wrong-loop displacement, crossing, detached component or sharp kink was observed.",
+    "Both hands obscure geometry: view 0 has upper and lower foreground gaps, view 1 has a broad foreground-hand arc plus the upper-right grip, view 2 has upper and lower-left gaps, and view 3 has upper-left and right-side gaps. The combined top-view depth cloud also leaves a long upper arc and a shorter lower arc unsupported.",
+    "The spatial plots and nine orbit frames show a coherent, nearly planar oval with small height variation. Saved numerical checks report one watertight component, consistent winding, zero degenerate triangles and no self-intersection. The ring-rendered orbit alone does not establish mesh topology.",
+    "The depth-cloud and hybrid side views show observed points spread above and around the narrow fitted tube. Camera 17736741 has the largest median and p90 centerline residuals, 8.250 and 10.437 mm; its residual histogram and camera 23007103 have tails beyond 10 mm.",
+    "The color plot distinguishes 522 observed-color vertices from 342 median-filled vertices, including the underside and hand-hidden arcs. The hybrid plot distinguishes 12,645 observed seeds from 51,840 mesh-derived seeds, total 64,485."
+  ],
+  "limitations": [
+    "Both hand-hidden arcs and the underside remain inferred geometry. Projecting a closed tube across a hand does not reveal the hidden belt shape or verify physical hand contact. The visible masks and sparse initial cloud do not independently constrain those missing arcs.",
+    "Minimum tube z is -1.291972 mm relative to the nominal z=0 table plane. Belt-interior-minus-local-table medians are 8.270, 4.899, 7.718 and 4.772 mm in the listed camera order. Camera-dependent offsets and depth spread leave vertical placement and table contact uncertain; no depth correction was applied.",
+    "The 3.159-8.250 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 96.34-98.88 percent centerline-in-mask fractions are not silhouette IoU.",
+    "The fitted length is 635.162 mm, only 0.162 mm above the configured 635 mm soft lower bound, and the saved within-1-mm bound flag is true. Missing-arc shape and length therefore remain regularized model estimates, not independently observed full-loop measurements.",
+    "One optimization round stopped at the configured gradient tolerance. Maximum curvature is 19.101/m and 41.2 percent of evaluated samples exceed the soft 10/m curvature regularization threshold. That threshold is not a hard geometry acceptance test, and this review does not establish global optimality.",
+    "Median-filled colors are initialization values rather than observed texture. 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.",
+    "This review inspected nine of 36 ring-rendered orbit frames and the specified initial-frame evidence. It does not claim continuous playback or repeat the completed temporal-reference review."
+  ]
+}

sessions/session_20260921_230550_636767/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json

@@ -0,0 +1,490 @@
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+  "owner_prior_approval": "accepted",
+  "visual_quality_assessment": "not performed by this packager",
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