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diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_ribbon_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_ribbon_argv.json
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+{
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diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_ribbon_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_ribbon_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8553b607dbe6881f3610900d6a10860e97960baf
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_ribbon_result.json
@@ -0,0 +1,7 @@
+{
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+  "finished_utc": "2026-10-29T19:30:16.085958+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision.log b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision.log
new file mode 100644
index 0000000000000000000000000000000000000000..f87e2cc1869547a76101594de464ddf99310ce22
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision.log
@@ -0,0 +1,44 @@
+{
+ "populations": {
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+  "rule": "RT-S2, fixed for the whole run; C/T weights unchanged"
+ },
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+  "controller_springs": 886,
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+   0.00024847305030561984,
+   0.017659666016697884
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+   0.009448571130633354,
+   0.03997989743947983
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+  "attached_object_nodes": 88,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 886
+  }
+ },
+ "passed": true
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceffbce98d4cda3131d7e1de9c382d17d1f2015f
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+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision_argv.json
@@ -0,0 +1,18 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/supervision"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "cd9e52ab9601daf4ecc26e6fb07bc77c08d929dc",
+  "environment": {
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+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
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+  "started_utc": "2026-10-29T19:30:43.578689+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision_pid.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision_pid.json
new file mode 100644
index 0000000000000000000000000000000000000000..14c930a53a9973fae4dd581511ea8e66aa822ba4
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@@ -0,0 +1,5 @@
+{
+  "pid": 2414327,
+  "stage": "mech_center_supervision",
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+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..22cd510c7cd913b914aef0aa9913375c876f47c3
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+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_center_supervision_result.json
@@ -0,0 +1,7 @@
+{
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diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review.log b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review.log
new file mode 100644
index 0000000000000000000000000000000000000000..901041321b91b026d8dc7a29f80eb433383f244d
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+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review.log
@@ -0,0 +1,236 @@
+{
+  "scope": "Static input and geometry review only; no dynamics, optimization, fit or altered selection",
+  "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500",
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+  "object_prior": "grey_timing_belt",
+  "declared_hands_source": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/residual_preparation_20261029/232447_tools/mechanics_recipe_source.json",
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+    "controls": 30,
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+  "total_source_mass_units": 1798.0,
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+      "interior_construction": "none: zero-thickness ribbon surface only (owner corpus Q1)"
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+    "interpretation": "Recorded positions only. Prior/depth/table-plane uncertainty requires visual interpretation; no height correction or contact validation."
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+        }
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+  "checks": {
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+    "supervision_reuse_checks": true,
+    "all_twenty_mechanical_arrays_reused_bitwise": true,
+    "ribbon_surface_only_bank_and_population": true,
+    "recomputed_shared_voxels_equal_saved": true,
+    "masses_are_one_per_actual_object_particle": true,
+    "velocity_zero_all_object_particles": true,
+    "gate_references_are_all_initialized_particles": true,
+    "gate_reference_categories_match_actual_particles": true,
+    "eligible_pool_is_survivors_with_inclusive_4cm_gate": true,
+    "selected_ids_match_gate": true,
+    "selected_controllers_all_eligible": true,
+    "selected_controllers_within_4cm_initially": true,
+    "selected_distances_recompute_exactly": true,
+    "thirty_pooled_declared_hands": true,
+    "controller_trajectories_valid_every_sample": true,
+    "native_controls_equal_measured_float32_trajectories": true,
+    "genuine_pairs_name_original_own_tracks": true,
+    "genuine_pairs_cover_only_all_originals": true,
+    "original_q0_equals_own_measured_initial_targets": true,
+    "all_chamfer_targets_initially_valid": true,
+    "fixed_denominators_match_saved": true,
+    "connected_object_graph": true,
+    "no_isolated_object_nodes": true,
+    "all_controllers_attached": true
+  },
+  "passed": true
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea114d06a34e59f05df3202977a4f0dc0889917
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review_argv.json
@@ -0,0 +1,18 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/.venv/bin/python",
+    "-B",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/residual_preparation_20261029/232447_tools/review_mechanics_case.py",
+    "--case",
+    "232447"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "cd9e52ab9601daf4ecc26e6fb07bc77c08d929dc",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T19:30:48.927079+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review_pid.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review_pid.json
new file mode 100644
index 0000000000000000000000000000000000000000..51c362d4a62c25de68215af378c9eaf4ecb22d04
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+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review_pid.json
@@ -0,0 +1,5 @@
+{
+  "pid": 2414931,
+  "stage": "mech_review",
+  "started_utc": "2026-10-29T19:30:48.927079+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8294cba254e248c97042d98ed62b204ae13dffa7
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+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_review_result.json
@@ -0,0 +1,7 @@
+{
+  "returncode": 0,
+  "wall_seconds": 3.6329755500191823,
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+  "started_utc": "2026-10-29T19:30:48.927079+00:00",
+  "finished_utc": "2026-10-29T19:30:52.560202+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_ribbon_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_ribbon_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..e842f06f498f5fef50472c167b71c9237a2cc910
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_ribbon_argv.json
@@ -0,0 +1,38 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232447_904863",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/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_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "74b3ca1fcccecd73b2637b34b37117c492b96c84cff0210063c1c83f24edeb45",
+    "--accepted-prior-manifest-sha256",
+    "0410d8118e8de65295b7bbd032b830bcd4efe1aa2bea41214b373d91748134b0",
+    "--participating-hand",
+    "hand_A",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/mechanics_ribbon_v1"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "cd9e52ab9601daf4ecc26e6fb07bc77c08d929dc",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T19:29:03.318558+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_ribbon_pid.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_ribbon_pid.json
new file mode 100644
index 0000000000000000000000000000000000000000..77dcab3c45ed51a1f5ba60f1216ff3732e9aff77
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+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_ribbon_pid.json
@@ -0,0 +1,5 @@
+{
+  "pid": 2409356,
+  "stage": "mech_ribbon",
+  "started_utc": "2026-10-29T19:29:03.318558+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_ribbon_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_ribbon_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3b184293988669672b4ceefced123a872259dad
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_ribbon_result.json
@@ -0,0 +1,7 @@
+{
+  "returncode": 0,
+  "wall_seconds": 67.89919967702008,
+  "code": "cd9e52ab9601daf4ecc26e6fb07bc77c08d929dc",
+  "started_utc": "2026-10-29T19:29:03.318558+00:00",
+  "finished_utc": "2026-10-29T19:30:11.217958+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_supervision_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_supervision_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4ba6b2be0bd91d873755f93b6f40e747d22ea5a
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_supervision_argv.json
@@ -0,0 +1,42 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232447_904863",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/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_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "74b3ca1fcccecd73b2637b34b37117c492b96c84cff0210063c1c83f24edeb45",
+    "--accepted-prior-manifest-sha256",
+    "0410d8118e8de65295b7bbd032b830bcd4efe1aa2bea41214b373d91748134b0",
+    "--participating-hand",
+    "hand_A",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/mechanics_ribbon_v1/mesh/binding.json",
+    "--premesh-fitting",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/rt3_lifts/fitting",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/supervision"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "cd9e52ab9601daf4ecc26e6fb07bc77c08d929dc",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T19:30:16.103358+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_supervision_pid.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_supervision_pid.json
new file mode 100644
index 0000000000000000000000000000000000000000..087c529140011b7326d9b3ebad138782c892f214
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_supervision_pid.json
@@ -0,0 +1,5 @@
+{
+  "pid": 2412941,
+  "stage": "mech_supervision",
+  "started_utc": "2026-10-29T19:30:16.103358+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_supervision_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_supervision_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..614f1b67e778a2382d67f4209a9cc49ab1e41ed7
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/mech_supervision_result.json
@@ -0,0 +1,7 @@
+{
+  "returncode": 0,
+  "wall_seconds": 27.45525830599945,
+  "code": "cd9e52ab9601daf4ecc26e6fb07bc77c08d929dc",
+  "started_utc": "2026-10-29T19:30:16.103358+00:00",
+  "finished_utc": "2026-10-29T19:30:43.558795+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors.log b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors.log
new file mode 100644
index 0000000000000000000000000000000000000000..f2fd1c72fe8ef1552761909cfbb7859368989af1
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors.log
@@ -0,0 +1 @@
+colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1/steps/colors.json
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a6d8d61428213a45f3cd28c381dc546598b603
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors_argv.json
@@ -0,0 +1,22 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/scripts/real_rgbd_appearance_spline_prior.py",
+    "colors",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T17:31:09.908083+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors_pid.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors_pid.json
new file mode 100644
index 0000000000000000000000000000000000000000..71a8e89092150cbca1c8f48c7216091f91984358
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors_pid.json
@@ -0,0 +1,5 @@
+{
+  "pid": 2190731,
+  "stage": "prior_colors",
+  "started_utc": "2026-10-29T17:31:09.908083+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf7609ebb6329b685a22776a8ba860b3b5e8c148
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_colors_result.json
@@ -0,0 +1,7 @@
+{
+  "returncode": 0,
+  "wall_seconds": 5.231894539989298,
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "started_utc": "2026-10-29T17:31:09.908083+00:00",
+  "finished_utc": "2026-10-29T17:31:15.140115+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth.log b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth.log
new file mode 100644
index 0000000000000000000000000000000000000000..ed4798239126107022ba7076d7a70cb385be2e7a
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth.log
@@ -0,0 +1 @@
+diagnose-depth: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1/steps/diagnose-depth.json
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c222bdd43e05b21439954f8dbc9116d5530059
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth_argv.json
@@ -0,0 +1,22 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/scripts/real_rgbd_appearance_spline_prior.py",
+    "diagnose-depth",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T17:29:49.276585+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth_pid.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth_pid.json
new file mode 100644
index 0000000000000000000000000000000000000000..b74220bee8c8e51928c5b08bd37df3f3efb51a63
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth_pid.json
@@ -0,0 +1,5 @@
+{
+  "pid": 2187965,
+  "stage": "prior_diagnose_depth",
+  "started_utc": "2026-10-29T17:29:49.276585+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7d7ab974584806ec79cfe71104502de1929f5c6
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_diagnose_depth_result.json
@@ -0,0 +1,7 @@
+{
+  "returncode": 0,
+  "wall_seconds": 2.632214006007416,
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "started_utc": "2026-10-29T17:29:49.276585+00:00",
+  "finished_utc": "2026-10-29T17:29:51.909088+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit.log b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit.log
new file mode 100644
index 0000000000000000000000000000000000000000..e363937326b073abff28babc0aa33a5be5a26ef5
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit.log
@@ -0,0 +1,58 @@
+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!
+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_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1/steps/fit.json
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ca3811259b13b4dc3276d67f094aa97f1feb4a
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit_argv.json
@@ -0,0 +1,28 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/scripts/real_rgbd_appearance_spline_prior.py",
+    "fit",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1",
+    "--outlier-filter",
+    "statistical:20:2.0",
+    "--max-rounds",
+    "400",
+    "--reprojection-weight",
+    "4"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T17:30:01.589078+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit_pid.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit_pid.json
new file mode 100644
index 0000000000000000000000000000000000000000..115f12f5b5821360235e6b031ebbafaea1861604
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit_pid.json
@@ -0,0 +1,5 @@
+{
+  "pid": 2188433,
+  "stage": "prior_fit",
+  "started_utc": "2026-10-29T17:30:01.589078+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09f88047010c5ee5ee395689d4b5b5c63f389f9
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_fit_result.json
@@ -0,0 +1,7 @@
+{
+  "returncode": 0,
+  "wall_seconds": 59.489245991018834,
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "started_utc": "2026-10-29T17:30:01.589078+00:00",
+  "finished_utc": "2026-10-29T17:31:01.078430+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid.log b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid.log
new file mode 100644
index 0000000000000000000000000000000000000000..d34dba4c3362676a42e8d20b4ef53b5ac8c3562f
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid.log
@@ -0,0 +1 @@
+hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1/steps/hybrid.json
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..80249fbdef0a14e980785bae4cf317552df1ece0
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid_argv.json
@@ -0,0 +1,22 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/scripts/real_rgbd_appearance_spline_prior.py",
+    "hybrid",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T17:31:15.157981+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid_pid.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid_pid.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ec2b63a2d7ac335b1b4824f7cd9a400e4d459ee
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid_pid.json
@@ -0,0 +1,5 @@
+{
+  "pid": 2190932,
+  "stage": "prior_hybrid",
+  "started_utc": "2026-10-29T17:31:15.157981+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..3816c810997c1496db251a2a5a531d2c390207cb
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_hybrid_result.json
@@ -0,0 +1,7 @@
+{
+  "returncode": 0,
+  "wall_seconds": 4.5776907020190265,
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "started_utc": "2026-10-29T17:31:15.157981+00:00",
+  "finished_utc": "2026-10-29T17:31:19.735773+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs.log b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs.log
new file mode 100644
index 0000000000000000000000000000000000000000..09d7942570446e6bf19884c7d1aa620edcaf43a7
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs.log
@@ -0,0 +1 @@
+inputs: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1/steps/inputs.json
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..359aa0675809f9aa560713b6ba19f935b2a74776
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs_argv.json
@@ -0,0 +1,35 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/scripts/real_rgbd_appearance_spline_prior.py",
+    "inputs",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500",
+    "--object",
+    "grey_timing_belt",
+    "--unfitted-inputs",
+    "--fitting-bundle",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/rt3_lifts/fitting/fitting_observations.npz",
+    "--frames-bundle",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/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_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T17:29:15.146128+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs_pid.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs_pid.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5e72362a1849a9f9a24a33a39d88bf278d23f37
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs_pid.json
@@ -0,0 +1,5 @@
+{
+  "pid": 2186499,
+  "stage": "prior_inputs",
+  "started_utc": "2026-10-29T17:29:15.146128+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs_result.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..73783f52681296cbb31c1262c2fdfd46a192a4e2
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_inputs_result.json
@@ -0,0 +1,7 @@
+{
+  "returncode": 0,
+  "wall_seconds": 34.11104414399597,
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "started_utc": "2026-10-29T17:29:15.146128+00:00",
+  "finished_utc": "2026-10-29T17:29:49.257289+00:00"
+}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_manifest.log b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_manifest.log
new file mode 100644
index 0000000000000000000000000000000000000000..22e5a7c0468b235f46dea5932b1ed407adf0771a
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_manifest.log
@@ -0,0 +1 @@
+/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1/manifest.json
diff --git a/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_manifest_argv.json b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_manifest_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dfc3ba6030669ea18617bc2176e6c7c16ed09ba
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/c6a-black-padding-preparation-v2/native/prior_manifest_argv.json
@@ -0,0 +1,22 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029/scripts/real_rgbd_appearance_spline_prior.py",
+    "manifest",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_timing_v1"
+  ],
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T17:31:44.090168+00:00"
+}