diff --git a/.gitattributes b/.gitattributes
index 342a810352341d57f14fa07e3f031c1d2be74fa9..64f00b6e0b1e2015d887d1eb17865aca26d57d7f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -855,3 +855,4 @@ sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojectio
 sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/model/point_cloud/iteration_7000/point_cloud.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/observation.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/colors/color_summary.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/colors/color_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b7fbbccf527fef44cb816d277ca540caa1b1541
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/colors/color_summary.json
@@ -0,0 +1,49 @@
+{
+  "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": 592,
+      "projected_inside": 1728,
+      "first_hit": 913
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "observed_vertices": 422,
+      "projected_inside": 1728,
+      "first_hit": 932
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "observed_vertices": 625,
+      "projected_inside": 1728,
+      "first_hit": 923
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "observed_vertices": 553,
+      "projected_inside": 1728,
+      "first_hit": 920
+    }
+  ],
+  "observed_vertices": 1033,
+  "filled_vertices": 695,
+  "fill_color_rgb": [
+    0.19151199457841903,
+    0.14729120331111872,
+    0.13725490196078433
+  ],
+  "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_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/colors/vertex_colors.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/colors/vertex_colors.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bd35e9227f8ace08f1e7eb90cd7ffdb14e4d3679
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/colors/vertex_colors.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006220dd543aa1068c2922c3595bb048ff1e194b2e1608a16a1e84dea466b412
+size 56328
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/full_prior_complete.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/full_prior_complete.json
new file mode 100644
index 0000000000000000000000000000000000000000..23ec5562181aa40acbf013f55ca4aa6f3ef559cf
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/full_prior_complete.json
@@ -0,0 +1,16 @@
+{
+  "completed_utc": "2026-10-28T22:16:03.660976+00:00",
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+  "owner_settings": {
+    "owner_text": "Use 18 controls and 5e-9 for both",
+    "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]",
+    "recorded_utc": "2026-10-28T22:07:04.723232+00:00",
+    "control_count": 18,
+    "lambda_curvature_cost": 5e-09,
+    "settings_source": "233248 variant B",
+    "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.",
+    "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+  },
+  "baseline_fit": "not run; owner selected M18 before first prior fit"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/gaussian_data/session_20260921_233350_440979/shape_prior.glb b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/gaussian_data/session_20260921_233350_440979/shape_prior.glb
new file mode 100644
index 0000000000000000000000000000000000000000..75185b0ac8260ca475c63e52e68fe8e5356fa1fd
Binary files /dev/null and b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/gaussian_data/session_20260921_233350_440979/shape_prior.glb differ
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/hybrid/populations.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/hybrid/populations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f10b0ca7e032e8db11b705af739e05499985918b
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/hybrid/populations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:938936bdda2bef6682a265142b82bee2bca992bd9e0e359ad442e90b2c4e44bf
+size 4809710
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/manifest.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..9536f9f86c0d65ff1fe569647a510448d8f28156
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/manifest.json
@@ -0,0 +1,867 @@
+{
+  "kind": "real_rgbd_appearance_spline_prior_v1",
+  "code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "steps": {
+    "colors": {
+      "status": "ok",
+      "settings": {
+        "depth_tolerance_m": 0.025
+      },
+      "outputs": {
+        "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": 592,
+            "projected_inside": 1728,
+            "first_hit": 913
+          },
+          {
+            "view": 1,
+            "serial": "12933256",
+            "observed_vertices": 422,
+            "projected_inside": 1728,
+            "first_hit": 932
+          },
+          {
+            "view": 2,
+            "serial": "17736741",
+            "observed_vertices": 625,
+            "projected_inside": 1728,
+            "first_hit": 923
+          },
+          {
+            "view": 3,
+            "serial": "23007103",
+            "observed_vertices": 553,
+            "projected_inside": 1728,
+            "first_hit": 920
+          }
+        ],
+        "observed_vertices": 1033,
+        "filled_vertices": 695,
+        "fill_color_rgb": [
+          0.19151199457841903,
+          0.14729120331111872,
+          0.13725490196078433
+        ],
+        "glb_roundtrip": {
+          "float32_positions_exact": true,
+          "vertex_colors_exact": true,
+          "uv_count": 0,
+          "vertex_reordered_on_open3d_load": true
+        },
+        "files": {
+          "colors/vertex_colors.npz": "006220dd543aa1068c2922c3595bb048ff1e194b2e1608a16a1e84dea466b412",
+          "colors/color_summary.json": "69de71adf441948c2303240433dff3db2826f40e49968dc16b89d469c4d337f5",
+          "tube/shape_prior.glb": "61a762ebbbbf034af08558a3e89042f74ed1b2600a632b70caa25d845129553f",
+          "tube/tube.ply": "7f5650bf869e5f01632eb0954e42e9e46bf9d770ce9a3e668c2d0228c098e7e2",
+          "gaussian_data/session_20260921_233350_440979/shape_prior.glb": "61a762ebbbbf034af08558a3e89042f74ed1b2600a632b70caa25d845129553f"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 1.1279997825622559
+    },
+    "diagnose-depth": {
+      "status": "ok",
+      "settings": {
+        "correction": "none",
+        "annulus_px": [
+          20,
+          80
+        ]
+      },
+      "outputs": {
+        "report": {
+          "annulus_px": [
+            20,
+            80
+          ],
+          "interior_erosion_px": 2,
+          "correction_applied": false,
+          "views": [
+            {
+              "view": 0,
+              "serial": "12540311",
+              "annulus_count": 62964,
+              "belt_interior_count": 7620,
+              "belt_edge_count": 2750,
+              "table_median_z_m": -7.655212073059969e-05,
+              "belt_interior_median_z_m": 0.01055925031413879,
+              "belt_edge_median_z_m": 0.00024912902950402493,
+              "belt_minus_table_m": 0.01063580243486939,
+              "edge_minus_table_m": 0.00032568115023462463,
+              "table_p10_p90_z_m": [
+                -0.001958645012908189,
+                0.0011031486467430573
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.00037109482275370374,
+                0.015236898731755622
+              ]
+            },
+            {
+              "view": 1,
+              "serial": "12933256",
+              "annulus_count": 43337,
+              "belt_interior_count": 4253,
+              "belt_edge_count": 1729,
+              "table_median_z_m": -0.0009368307413537558,
+              "belt_interior_median_z_m": 0.005894032159887264,
+              "belt_edge_median_z_m": 0.000950817590460673,
+              "belt_minus_table_m": 0.006830862901241019,
+              "edge_minus_table_m": 0.0018876483318144288,
+              "table_p10_p90_z_m": [
+                -0.0016646231352850816,
+                -0.0003330011544799169
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0013929230206320311,
+                0.00885023143788315
+              ]
+            },
+            {
+              "view": 2,
+              "serial": "17736741",
+              "annulus_count": 64210,
+              "belt_interior_count": 7178,
+              "belt_edge_count": 2939,
+              "table_median_z_m": 0.0013811225349885103,
+              "belt_interior_median_z_m": 0.011255177064247501,
+              "belt_edge_median_z_m": 0.001770530286694716,
+              "belt_minus_table_m": 0.009874054529258991,
+              "edge_minus_table_m": 0.00038940775170620556,
+              "table_p10_p90_z_m": [
+                0.00013622346882600223,
+                0.0025687680789306944
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.002513644893010925,
+                0.014696697391169756
+              ]
+            },
+            {
+              "view": 3,
+              "serial": "23007103",
+              "annulus_count": 42176,
+              "belt_interior_count": 4322,
+              "belt_edge_count": 2086,
+              "table_median_z_m": -3.088470725581827e-05,
+              "belt_interior_median_z_m": 0.008122605762869106,
+              "belt_edge_median_z_m": 0.0017639871212786762,
+              "belt_minus_table_m": 0.008153490470124924,
+              "edge_minus_table_m": 0.0017948718285344945,
+              "table_p10_p90_z_m": [
+                -0.0006555988662426682,
+                0.001863406973073245
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0021249908671892802,
+                0.010988996893434166
+              ]
+            }
+          ]
+        },
+        "files": {
+          "inputs/depth_offset_diagnostic.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.3075852394104004
+    },
+    "fit": {
+      "status": "ok",
+      "settings": {
+        "object": {
+          "name": "bike_chain",
+          "representation": "tube",
+          "fitter_source": "scripts/chain_state_estimation.py loss/solver literals",
+          "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)",
+          "radius_m": 0.00475,
+          "ribbon_width_m": null,
+          "step_t": 0.125,
+          "step_angle_deg": 30,
+          "u_resolution": null,
+          "overlap_rule": "surface_intersection",
+          "twist_penalty": null
+        },
+        "max_rounds": 400,
+        "control_count": 18,
+        "relative_loss_tolerance": 1e-07,
+        "reprojection": {
+          "weight": 4.0,
+          "direction": "visible mask pixels to projected centerline",
+          "ribbon_twist_stage": null,
+          "mask": "accepted object outside hand/occluder union",
+          "view_aggregation": "equal view means",
+          "distance": "metric image plane using per-view median visible belt depth and fx/fy",
+          "samples": 360,
+          "huber_delta_m": 0.005,
+          "smooth_cap_m": 0.035,
+          "baseline_run": null
+        },
+        "loss_config": {
+          "eval_distances": true,
+          "max_saturation_distance": 0.035,
+          "distance_huber_delta": 0.005,
+          "eval_curvature_cost": true,
+          "num_eval_reg_points": 250,
+          "lambda_curvature_cost": 5e-09,
+          "max_curvature": 10.0,
+          "curvature_huber_delta": 30.0,
+          "max_saturation_curvature": 80.0,
+          "eval_curvilinear_energy": false,
+          "lambda_curvilinear_energy": 0.001,
+          "eval_length_constraint": true,
+          "lambda_length_constraint": 0.1,
+          "arclength_bounds": [
+            0.5830000042915344,
+            0.5849999785423279
+          ]
+        },
+        "solver_config": {
+          "solver_type": "lbfgs",
+          "linesearch_type": "zoom",
+          "max_linesearch_steps": 10,
+          "grad_norm_tolerance": 0.0001,
+          "max_iter": 25
+        },
+        "ribbon_twist_refinement": null
+      },
+      "outputs": {
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 23373,
+          "kept_count": 22415,
+          "removed_count": 958,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 7620,
+              "kept": 7290,
+              "removed": 330,
+              "live_20_0.05_kept": 5404,
+              "no_filter_kept": 7620
+            },
+            {
+              "view": 1,
+              "input": 4253,
+              "kept": 4154,
+              "removed": 99,
+              "live_20_0.05_kept": 2921,
+              "no_filter_kept": 4253
+            },
+            {
+              "view": 2,
+              "input": 7178,
+              "kept": 6985,
+              "removed": 193,
+              "live_20_0.05_kept": 4904,
+              "no_filter_kept": 7178
+            },
+            {
+              "view": 3,
+              "input": 4322,
+              "kept": 3986,
+              "removed": 336,
+              "live_20_0.05_kept": 1070,
+              "no_filter_kept": 4322
+            }
+          ]
+        },
+        "rounds": 1,
+        "stop": "gradient_tolerance",
+        "final": {
+          "loss": 5.935083026997745e-05,
+          "components": {
+            "distance": 2.2450318283517845e-05,
+            "curvature": 4.0881488416744105e-07,
+            "arclength": 3.157069716763772e-09,
+            "mask_reprojection_2d": 3.648854180937633e-05
+          },
+          "grad_norm": 7.994358747964725e-05,
+          "arclength_m": 0.5851776599884033,
+          "arclength_bound_active_within_1mm": true,
+          "max_curvature_per_m": 76.95549011230469,
+          "curvature_p50_p90_per_m": [
+            10.894053936004639,
+            40.940660858154295
+          ],
+          "curvature_above_max_fraction": 0.536,
+          "mean_distance_m": 0.007080405422905114,
+          "max_distance_m": 0.0223002340644598,
+          "beyond_2delta_fraction": 0.1288869060896721,
+          "at_cap_fraction": 0.0,
+          "per_view": [
+            {
+              "view": 0,
+              "count": 7290,
+              "median_m": 0.007497213548049331,
+              "p90_m": 0.011150617804378277,
+              "max_m": 0.01435480173677206,
+              "beyond_2delta_fraction": 0.200960219478738,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 1,
+              "count": 4154,
+              "median_m": 0.004817647626623511,
+              "p90_m": 0.0075666192919015916,
+              "max_m": 0.011014209128916264,
+              "beyond_2delta_fraction": 0.01203659123736158,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 2,
+              "count": 6985,
+              "median_m": 0.007075323257595301,
+              "p90_m": 0.010250700637698175,
+              "max_m": 0.013602840714156628,
+              "beyond_2delta_fraction": 0.11739441660701504,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 3,
+              "count": 3986,
+              "median_m": 0.0071439913008362055,
+              "p90_m": 0.01072401087731123,
+              "max_m": 0.0223002340644598,
+              "beyond_2delta_fraction": 0.13898645258404416,
+              "at_cap_fraction": 0.0
+            }
+          ],
+          "round": 1,
+          "relative_loss_change": 0.9846871518286671
+        },
+        "deterministic": true,
+        "partial_view_witness": {
+          "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
+          "control_count": 18,
+          "curvature_weight": 5e-09,
+          "seed": 5,
+          "noise_sigma_m": 0.0015,
+          "points": 288,
+          "tube_radius_m": 0.00475,
+          "truth_arclength_m": 0.5839999999999999,
+          "truth_corner_curvature_per_m": 100.0,
+          "fit_arclength_m": 0.5848049521446228,
+          "mean_centerline_distance_to_truth_m": 0.003304384713212965,
+          "max_centerline_distance_to_truth_m": 0.0057414166823648,
+          "corner_truth_to_fit_mean_max_m": [
+            0.0034466403731989066,
+            0.004110262860931054
+          ],
+          "straight_truth_to_fit_mean_m": 0.003288980337124959,
+          "fit_max_curvature_per_m": 123.24449920654297,
+          "fit_curvature_nearest_corners_p50_max_per_m": [
+            49.5619010925293,
+            123.24449920654297
+          ],
+          "rounds": 1,
+          "stop": "gradient_tolerance"
+        },
+        "files": {
+          "spline/reprojection_residuals.npz": "8a9ba702126c2289660c76a223d8ceb827a3086b090a7c861e34359ae6a4e0c8",
+          "spline/residuals.npz": "34d6d250a92142ece0a2805f9d9e8be1f1fb771881ad6ef217e9ace0371c556c",
+          "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1",
+          "spline/spline_init.json": "7087e20c590bd351982e09a337650bab38cbf66eaa4ddb581978b1dc180ee392",
+          "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+          "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5",
+          "spline/witness.json": "9021e8d6d6e019fa4adc745ee9b3620ff75852583b523c7918ec6ea9b265ba6a",
+          "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f",
+          "spline/spline_fit.json": "69f21731d4ca6e9fd869caf908c5a1b0730a642907af31ed2a95d7604dc0a074",
+          "spline/rounds.jsonl": "69fe78fd1034822a6abcc9198f6395ce55939d6f0cf584ef544a7fd74c8168ed",
+          "spline/init_ellipse.json": "27d464a292a3d50a9fa0417ec117ee2b28f13a5f58f401f33f6de218ef265d6f",
+          "spline/reprojection.json": "1737d30ec0c09af4fa1439059fc1af10c1fa0875f07cfddc2aff84f56682f254"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 20.239184617996216
+    },
+    "hybrid": {
+      "status": "ok",
+      "settings": {
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+        "numpy_seed": 0,
+        "points_per_triangle": 30
+      },
+      "outputs": {
+        "counts": {
+          "observed": 22415,
+          "mesh": 103680,
+          "total": 126095,
+          "mesh_to_observed": 4.625474012937765
+        },
+        "files": {
+          "hybrid/populations.npz": "938936bdda2bef6682a265142b82bee2bca992bd9e0e359ad442e90b2c4e44bf"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.8268294334411621
+    },
+    "inputs": {
+      "status": "ok",
+      "settings": {
+        "object": "bike_chain",
+        "depth_source": "waft_stereo_dav2l5",
+        "depth_stream_ids": [
+          "zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth",
+          "zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth",
+          "zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth",
+          "zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth"
+        ],
+        "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+        "frames_sha256": "a0942bc36c199bbfd3820a2d364a01ab8ba928a6b19770a5b237ea1facdbb895",
+        "signed_native_frames_sha256": {
+          "12540311": "48e042953277766b9b0f888b7b739e9827765283a78f98a2f0e3c8e80fcfefe1",
+          "12933256": "6118d29b38eb0e2bb4dc4a3e17e0d96010b43b6d49912fc84e28b14697ee1024",
+          "17736741": "3af1fcdd7716b2267ea52c52e22319436efaf44a1801e24186498c5b27b981c7",
+          "23007103": "c4ad4b8a67375180f65129c0f24b071dbf60cb5d78b6b7a950c261263f01a94e"
+        },
+        "camera_frames_sha256": {
+          "12540311": "d2c9b3f290b737635ed209ff9ced770d38ed0832741e91065d79ee8dd4387dc4",
+          "12933256": "89157707e50b5ff6292b6e07dd06db7388f0cfdee4a2b252deb34b95ba7182a0",
+          "17736741": "ea83d3c91117acaf658860eb13caefc25b996548a69699be35a288d8b53793bc",
+          "23007103": "0c8aff30ba22897e806b1847f3a0b7307da29366e75a254a3380d09aa758ab9e"
+        },
+        "mask_erosion_px": 2,
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 23373,
+          "kept_count": 22415,
+          "removed_count": 958,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 7620,
+              "kept": 7290,
+              "removed": 330,
+              "live_20_0.05_kept": 5404,
+              "no_filter_kept": 7620
+            },
+            {
+              "view": 1,
+              "input": 4253,
+              "kept": 4154,
+              "removed": 99,
+              "live_20_0.05_kept": 2921,
+              "no_filter_kept": 4253
+            },
+            {
+              "view": 2,
+              "input": 7178,
+              "kept": 6985,
+              "removed": 193,
+              "live_20_0.05_kept": 4904,
+              "no_filter_kept": 7178
+            },
+            {
+              "view": 3,
+              "input": 4322,
+              "kept": 3986,
+              "removed": 336,
+              "live_20_0.05_kept": 1070,
+              "no_filter_kept": 4322
+            }
+          ]
+        },
+        "parent": null,
+        "unfitted_inputs": true,
+        "fitting_bundle_sha256": "62048240a6f804b44bf459cdc864c8c299804e37fc50738f45c7f40e22d68b19",
+        "signoffs": {
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12540311/review_signoff.json": "c230fe6872f6f464fafa3aff039c55b5ae4987410c22f8fa6add62626cfc829a",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12540311/review_signoff_occluder.json": "f7fb551be1950690c57e66d709fde328baa8a31c98c9c2a42521e55db1e534af",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12933256/review_signoff.json": "824a892b6b9208de7df64977c3579500385cd21c8e3b6652be4d87212a8688a1",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12933256/review_signoff_occluder.json": "eda3000d7bc79fd492793c0906f17ac41a91f617f001aaa85801847b967d2e17",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/17736741/review_signoff.json": "19027531f6942720853279918d143a9cf34183acb1444098e277c8810cf7b1e7",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/17736741/review_signoff_occluder.json": "81dda73b732004230a6f5e25c8890c024fdc32fe6afdcf3ba17e3a4e07eaa20f",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/23007103/review_signoff.json": "d153e3e1088351e2557ba6d2b287daff4c4a6fbd9f0c189d0ec32623852ae228",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/23007103/review_signoff_occluder.json": "c69d933fe4f7a06a5af94768a87e8763986896c75768a096e4d3f012768b74e1"
+        }
+      },
+      "outputs": {
+        "reference": {
+          "case": "session_20260921_233350_440979",
+          "grid_sample": 0,
+          "views": [
+            {
+              "index": 0,
+              "serial": "12540311",
+              "native_frame": 0,
+              "offset_ms": 1.970902,
+              "object_mask_px": 10370,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 353423,
+              "object_and_union_px": 0,
+              "lifted_points": 7290,
+              "lifted_z_min_max_m": [
+                -0.00302564008988615,
+                0.018761167192242523
+              ],
+              "uneroded_lifted_points": 10370,
+              "uneroded_lifted_z_min_max_m": [
+                -0.003858763419219202,
+                0.10390526603097272
+              ],
+              "eroded_lifted_points": 7620,
+              "erosion_removed_points": 2750,
+              "outlier_removed_points": 330
+            },
+            {
+              "index": 1,
+              "serial": "12933256",
+              "native_frame": 0,
+              "offset_ms": 0.0,
+              "object_mask_px": 5982,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 284237,
+              "object_and_union_px": 28,
+              "lifted_points": 4154,
+              "lifted_z_min_max_m": [
+                -0.0014113355968503605,
+                0.012225868257994876
+              ],
+              "uneroded_lifted_points": 5982,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0032101245077625906,
+                0.11407352285712274
+              ],
+              "eroded_lifted_points": 4253,
+              "erosion_removed_points": 1729,
+              "outlier_removed_points": 99
+            },
+            {
+              "index": 2,
+              "serial": "17736741",
+              "native_frame": 0,
+              "offset_ms": 6.200584,
+              "object_mask_px": 10117,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 374073,
+              "object_and_union_px": 0,
+              "lifted_points": 6985,
+              "lifted_z_min_max_m": [
+                -0.00031823685067589036,
+                0.018007819757196564
+              ],
+              "uneroded_lifted_points": 10117,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0010701685214193901,
+                0.08861601242826411
+              ],
+              "eroded_lifted_points": 7178,
+              "erosion_removed_points": 2939,
+              "outlier_removed_points": 193
+            },
+            {
+              "index": 3,
+              "serial": "23007103",
+              "native_frame": 0,
+              "offset_ms": 8.734615,
+              "object_mask_px": 6408,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 174842,
+              "object_and_union_px": 5,
+              "lifted_points": 3986,
+              "lifted_z_min_max_m": [
+                -0.0004381281431145023,
+                0.0131987562091046
+              ],
+              "uneroded_lifted_points": 6408,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0012160073284875894,
+                0.04531334527554337
+              ],
+              "eroded_lifted_points": 4322,
+              "erosion_removed_points": 2086,
+              "outlier_removed_points": 336
+            }
+          ],
+          "observed_points": 22415,
+          "mask_erosion_px": 2
+        },
+        "files": {
+          "inputs/observed_cloud.npz": "cbd81bca7bb74784f2ec5cd5564f58eb364c489fa97e415a21f18644d2b66458",
+          "inputs/reference_views.json": "1c1456b9a5eba30e61a6032c34f737ea3f3250160fbc7266c7fc46125bc8042c",
+          "gaussian_data/session_20260921_233350_440979/0.png": "b71f78e0369364a4d980fd8fc5e8a94d9942b29b59741403ad0192d322387e27",
+          "gaussian_data/session_20260921_233350_440979/mask_0.png": "7551fc755c7e60d1ce7d3987161d96ed30743af6e4905c101b124ddd2f90c3c6",
+          "gaussian_data/session_20260921_233350_440979/mask_human_0.png": "a9dd588945a4445f8c00fe3528e69f5539d5a7db9f26df4216ab6b897646d277",
+          "gaussian_data/session_20260921_233350_440979/0_depth.npy": "df89c575de1d2f5e986fd6bc1fe68c78fc7523d69cc0ca04538f42312d8df49b",
+          "gaussian_data/session_20260921_233350_440979/1.png": "585dfb360495255fcd89e5b17013562377cc6f38aa137eaa7d29d495c5ff32d4",
+          "gaussian_data/session_20260921_233350_440979/mask_1.png": "80a458a3bc2c90823e2fecd48dd723ba6d14404053e5099683021f79f726039c",
+          "gaussian_data/session_20260921_233350_440979/mask_human_1.png": "89bd50582ec33aaad55d50e8ee45b9c3a67a60641943c70bf74bcd2b374bb4c8",
+          "gaussian_data/session_20260921_233350_440979/1_depth.npy": "ce4c341223068584218d297831dc08ebf10ad96d1ce9b0af32e3c1a7164e2896",
+          "gaussian_data/session_20260921_233350_440979/2.png": "1bc3c96698e1a5f907faea515dae4447bd842420acfe6edfb569f0b0c28f44e9",
+          "gaussian_data/session_20260921_233350_440979/mask_2.png": "867a819d45c54171957a71fe6840f5720d72f83a0c023f1bd33c295ef88d8ad3",
+          "gaussian_data/session_20260921_233350_440979/mask_human_2.png": "9240380d1c1a46b8058779239824f916f948a957945947c152b0e06ac8742d66",
+          "gaussian_data/session_20260921_233350_440979/2_depth.npy": "632ccc3ed173559a896c14b2f9d51ad969bdaf1fc464471ddc366db255293065",
+          "gaussian_data/session_20260921_233350_440979/3.png": "d83b8f72dc5e6559b451b9e3af637cf0de6ab13d4e330fab672ea6ecd7a32520",
+          "gaussian_data/session_20260921_233350_440979/mask_3.png": "27885fc987774c89022dab82e2b49beb3b1bce4045ae19b60144cbbf34bad357",
+          "gaussian_data/session_20260921_233350_440979/mask_human_3.png": "be41d457677b4fae45b36185f0e0e3eef7cef914d32bd761687e4b4f0a378709",
+          "gaussian_data/session_20260921_233350_440979/3_depth.npy": "127a8ccbe0cf0d231a5c94aa38d9c98818702450dd4f8a6150b1c7f67953b0ee",
+          "gaussian_data/session_20260921_233350_440979/camera_meta.pkl": "f9c9256acec117e1352c4a1af2ed20789ebcbb39088276a9f7d9424e0e5592d8",
+          "gaussian_data/session_20260921_233350_440979/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+          "gaussian_data/session_20260921_233350_440979/observation.ply": "35b702c3e5fa3185b77730d2f38d4d7aff5969ec64190d8e8c55032054d07a91",
+          "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5",
+          "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f",
+          "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 33.40403342247009
+    },
+    "review": {
+      "status": "ok",
+      "settings": {
+        "historical_prior": null,
+        "historical_sha256": null,
+        "baseline_fit": null
+      },
+      "outputs": {
+        "review_files": 52,
+        "files": {
+          "review/hybrid/combined.png": "57e561cf666319eda51c3bcfa4f22f66d0da5ef06b8410be2d23820abb6788bc",
+          "review/hybrid/mesh.png": "4e5be549dee37b88ddd0292f3b32140b33ee0691ace000bb6ab2aece9ccd1a90",
+          "review/hybrid/observed.png": "2d3da767d7b0c3cef312e5348f9ee232989e16d8e1baf4cc9ca8c953d4751723",
+          "review/tube/tube_profiles.png": "cef00b90d86c5fe33e2aa4273c066dbf0b4d6338aae44c96da0655b557c1a612",
+          "review/tube/silhouette_1_unmasked.png": "3a2498e9c0693020c3041ed75302a251660e52ca37639f5784467d04ecc9e862",
+          "review/tube/silhouette_0_unmasked.png": "b754dd046ea01dd0250e28654baaba9cd7a5ebd03edd47203d7401e1e87046cd",
+          "review/tube/silhouette_0_with_masks.png": "7dac3431ded74fd4d2640af0f0fefeaf17a34f99295b10048200d91305b55fed",
+          "review/tube/silhouette_1_with_masks.png": "3d2a590b31f827ec6f3c0c9784af20b97522bcf8a30824567545034149d5bd54",
+          "review/tube/silhouette_2_unmasked.png": "628a2ab79cd157d9b9079b061945fedcd561df0d6031983ba0be3e59c7bca901",
+          "review/tube/silhouette_3_with_masks.png": "8e82c7829c613ab2a50849271e7223cd7d5132849af75d50b19868c30f777fe9",
+          "review/tube/silhouette_2_with_masks.png": "18a7bc65e30f53907f8aee2d5b4b4fbf3ae782147bea5e778555aa8a518250eb",
+          "review/tube/check_table.json": "b571c217a17fc64f28ca4833de161dc0dce12f455e1ceba2aabbef346a0fd4e7",
+          "review/tube/orbit.mp4": "3c8b8778ab2ea495632e1159dd3469a1a1c9f03224dedef850a3e7dbd9e4459f",
+          "review/tube/silhouette_3_unmasked.png": "12119fa4a94360ff52ec0fc2ecb49ddcc14a1045d3c53b57d33474338bbdc532",
+          "review/tube/tube_scale_views.png": "eac435db7176491d9b28ce56cc712fe4e10ded8196fa4406325345f49d02cd4f",
+          "review/inputs/depth_offset_table.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74",
+          "review/inputs/depth_offset.png": "cc408105c3bd5c5ee4371679536779804746f3a1cfccaf9495e749fe0ab0f29a",
+          "review/inputs/view_3_23007103.png": "9f5cd6ab205fcbcb82f447435545f218a23b9432cac23f7dc40666e389a51943",
+          "review/inputs/view_0_12540311.png": "4127337a800e2c64ec630fd62c97ae7a8195cb1fc082c04ddaf703a5c7acb96e",
+          "review/inputs/view_1_12933256.png": "9205ca8411072088315531113c0cf06b107d4c5bfbe5907e0d2dc1de50565737",
+          "review/inputs/cloud_rgb.png": "08b7b8d86cf03def95fe6bf9429919cdb0b3505de64c086ce2cea57a35208edb",
+          "review/inputs/filter_removed.png": "8c9a33dbe3da0f7b352a972ad5f991ab262a943b0bb429803eedc15bffc8296a",
+          "review/inputs/cloud_by_view.png": "22c3f0ebbdd62ff2c48792e1a13c3447eb1b3c7783d54760fd6dd2bddc79baaa",
+          "review/inputs/view_2_17736741.png": "fbea7fed1a53e63e05bd6e4058c375c86e93ccdef2392d69a21a39a12dfdfbc0",
+          "review/rerun/headless_contact_sheet.png": "ff0a76f373a7b072c0c09ac80f943c3799a2dad0d61c7587806cd83054bb5366",
+          "review/spline/centerline_0_with_masks.png": "b89490b4db2be8fe6d0e2fdfd2129bc5df77c2708264339e627c44da132a5f96",
+          "review/spline/centerline_3_unmasked.png": "2b95e405c7903fdd993c580da3cf3320263d8257d00f52b9633ac792f7903752",
+          "review/spline/per_view_arc_coverage.png": "67012785a1aa4f5f280edb563ba090c09eb2c2ad81929be703ccd0504a6c5aa7",
+          "review/spline/fit_projections.png": "2fd08081e9d109a0c2cd13b8156079303de3baeaf26ab8e205933aa0e7ae3c0d",
+          "review/spline/centerline_1_unmasked.png": "35afcbc36fc606f7c268dc2174c0acdee2e53130da989998ba025a4bcf2d8150",
+          "review/spline/centerline_2_with_masks.png": "20b39c73f4ec4682834a13019144c718569bef7f2e6fdf1fb196c912e1e6462c",
+          "review/spline/centerline_1_with_masks.png": "2ccd9e5100c70ad820211b4d4ca76c8f3783c0092bc64f00b9f02c69a4ae2506",
+          "review/spline/centerline_2_unmasked.png": "bfd0894a6eb23e00eefe3ad3b2686f3bcbff14862207e81b6b4a3c335930e7b1",
+          "review/spline/round_curves.png": "c568a87b5c5c99ee3f7facc8d12bd820dd2d2485cc463086d12bb4f1cf8d3491",
+          "review/spline/curvature_profile.png": "2f1934641ba4a0d7ad8b3fbb64073a2e54aa45920069eb48397cdde116c2ee54",
+          "review/spline/residual_histograms.png": "dcd7d67aa81a8ee1f442e34fe9f1d28dca5989e516452e4b863e1360fa990729",
+          "review/spline/centerline_3_with_masks.png": "a16271a70048c95c584893fde2699caa17ca962de83b57a54b12eea65815fc63",
+          "review/spline/fit_3d.png": "e0a3160506f7c0759dea5b7c2f68b73c70a595538d48dc80e5ed05b1ebc11bd6",
+          "review/spline/centerline_0_unmasked.png": "f0ce79786de5a0695c36e48b9c5e443465eef397f7916f24ad7286ab56995b60",
+          "review/colors/fill_swatch.txt": "c7aa9cab3ba27ce8cf7cad7e3fd204addd3a02870de361a30b7e5079394e41dc",
+          "review/colors/view_2_visibility.png": "5bb03a741b6e3e14fc97abc96928fe42ed311073dfd2fa1a2279ae7c8b19b864",
+          "review/colors/view_1_visibility.png": "c86ba170190f668db3508c32ac1f2e5c9d38d662b169fc769a462ff4f1ccbb40",
+          "review/colors/visibility_and_fill.png": "e763be5ae281e78508eed1dd1b73b31b0429b92d4edd158101a6fac9a5bf227e",
+          "review/colors/view_0_visibility.png": "cf0a354dca156be04ea2d3a858a4b0981c89e386930276e4ab04e0926475009e",
+          "review/colors/fill_swatch.png": "f3ad5cc69ad999309fa19461c7feeb7b9ae8f35d4aef92cd0af342f2407ff7f2",
+          "review/colors/view_3_visibility.png": "6877c7d1630cddb82dc3eec478bfd2b1d14f48624766b28ea9b875651ada18c1",
+          "rerun/appearance_spline_prior.rrd": "d990e1413591da9b68675a368f7f05bbbeb4c17fa864a1ff6662e5f0ed0afd17"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 10.671937227249146
+    },
+    "tube": {
+      "status": "ok",
+      "settings": {
+        "radius_m": 0.00475,
+        "step_t": 0.125,
+        "step_angle_deg": 30
+      },
+      "outputs": {
+        "checks": {
+          "euler_characteristic": 0,
+          "watertight": true,
+          "components": 1,
+          "winding_consistent": true,
+          "signed_volume_m3": 3.956278791192756e-05,
+          "minimum_outward_normal_dot_m": 0.00455353984958401,
+          "degenerate_triangles": 0,
+          "self_intersecting": false,
+          "maximum_radius_error_m": 7.689644228661696e-09,
+          "maximum_diameter_error_m": 1.5348802845024934e-08,
+          "bishop_seam_error": 5.960464477539063e-08,
+          "minimum_nonadjacent_centerline_distance_m": 0.004108392938893334,
+          "triangle_area_m2": {
+            "min": 2.152043776562718e-06,
+            "median": 5.102835213310572e-06,
+            "mean": 4.992817718519569e-06,
+            "max": 7.559738818039819e-06,
+            "density_max_over_min": 3.512818326639417
+          },
+          "bounds_m": [
+            [
+              -0.04117804020643234,
+              -0.1839023381471634,
+              -0.0014119537081569433
+            ],
+            [
+              0.14597740769386292,
+              -0.013479825109243393,
+              0.022065378725528717
+            ]
+          ],
+          "radius_m": 0.00475,
+          "step_t": 0.125,
+          "step_angle_deg": 30,
+          "overlap_rule": "surface_intersection",
+          "open3d_reported_intersecting_pairs": 0,
+          "confirmed_intersecting_pairs": [],
+          "passed": true,
+          "orientation_flipped": true
+        },
+        "vertex_count": 1728,
+        "triangle_count": 3456,
+        "files": {
+          "tube/tube_checks.json": "b571c217a17fc64f28ca4833de161dc0dce12f455e1ceba2aabbef346a0fd4e7",
+          "tube/triangle_areas.npz": "30ca61cdd6d683db8adfac2abb8bc0d5654ebf7ffd668eaae8b2e97885acadd3",
+          "tube/geometry.npz": "634527fe727bf5477f3a893c503402242ecf8d9ba97d6a289cc819ff630acdc0"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 3.3168327808380127
+    }
+  },
+  "files": {
+    "colors/color_summary.json": "69de71adf441948c2303240433dff3db2826f40e49968dc16b89d469c4d337f5",
+    "colors/vertex_colors.npz": "006220dd543aa1068c2922c3595bb048ff1e194b2e1608a16a1e84dea466b412",
+    "gaussian_data/session_20260921_233350_440979/0.png": "b71f78e0369364a4d980fd8fc5e8a94d9942b29b59741403ad0192d322387e27",
+    "gaussian_data/session_20260921_233350_440979/0_depth.npy": "df89c575de1d2f5e986fd6bc1fe68c78fc7523d69cc0ca04538f42312d8df49b",
+    "gaussian_data/session_20260921_233350_440979/1.png": "585dfb360495255fcd89e5b17013562377cc6f38aa137eaa7d29d495c5ff32d4",
+    "gaussian_data/session_20260921_233350_440979/1_depth.npy": "ce4c341223068584218d297831dc08ebf10ad96d1ce9b0af32e3c1a7164e2896",
+    "gaussian_data/session_20260921_233350_440979/2.png": "1bc3c96698e1a5f907faea515dae4447bd842420acfe6edfb569f0b0c28f44e9",
+    "gaussian_data/session_20260921_233350_440979/2_depth.npy": "632ccc3ed173559a896c14b2f9d51ad969bdaf1fc464471ddc366db255293065",
+    "gaussian_data/session_20260921_233350_440979/3.png": "d83b8f72dc5e6559b451b9e3af637cf0de6ab13d4e330fab672ea6ecd7a32520",
+    "gaussian_data/session_20260921_233350_440979/3_depth.npy": "127a8ccbe0cf0d231a5c94aa38d9c98818702450dd4f8a6150b1c7f67953b0ee",
+    "gaussian_data/session_20260921_233350_440979/camera_meta.pkl": "f9c9256acec117e1352c4a1af2ed20789ebcbb39088276a9f7d9424e0e5592d8",
+    "gaussian_data/session_20260921_233350_440979/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+    "gaussian_data/session_20260921_233350_440979/mask_0.png": "7551fc755c7e60d1ce7d3987161d96ed30743af6e4905c101b124ddd2f90c3c6",
+    "gaussian_data/session_20260921_233350_440979/mask_1.png": "80a458a3bc2c90823e2fecd48dd723ba6d14404053e5099683021f79f726039c",
+    "gaussian_data/session_20260921_233350_440979/mask_2.png": "867a819d45c54171957a71fe6840f5720d72f83a0c023f1bd33c295ef88d8ad3",
+    "gaussian_data/session_20260921_233350_440979/mask_3.png": "27885fc987774c89022dab82e2b49beb3b1bce4045ae19b60144cbbf34bad357",
+    "gaussian_data/session_20260921_233350_440979/mask_human_0.png": "a9dd588945a4445f8c00fe3528e69f5539d5a7db9f26df4216ab6b897646d277",
+    "gaussian_data/session_20260921_233350_440979/mask_human_1.png": "89bd50582ec33aaad55d50e8ee45b9c3a67a60641943c70bf74bcd2b374bb4c8",
+    "gaussian_data/session_20260921_233350_440979/mask_human_2.png": "9240380d1c1a46b8058779239824f916f948a957945947c152b0e06ac8742d66",
+    "gaussian_data/session_20260921_233350_440979/mask_human_3.png": "be41d457677b4fae45b36185f0e0e3eef7cef914d32bd761687e4b4f0a378709",
+    "gaussian_data/session_20260921_233350_440979/observation.ply": "35b702c3e5fa3185b77730d2f38d4d7aff5969ec64190d8e8c55032054d07a91",
+    "gaussian_data/session_20260921_233350_440979/shape_prior.glb": "61a762ebbbbf034af08558a3e89042f74ed1b2600a632b70caa25d845129553f",
+    "hybrid/populations.npz": "938936bdda2bef6682a265142b82bee2bca992bd9e0e359ad442e90b2c4e44bf",
+    "inputs/depth_offset_diagnostic.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74",
+    "inputs/observed_cloud.npz": "cbd81bca7bb74784f2ec5cd5564f58eb364c489fa97e415a21f18644d2b66458",
+    "inputs/reference_views.json": "1c1456b9a5eba30e61a6032c34f737ea3f3250160fbc7266c7fc46125bc8042c",
+    "rerun/appearance_spline_prior.rrd": "d990e1413591da9b68675a368f7f05bbbeb4c17fa864a1ff6662e5f0ed0afd17",
+    "review/colors/fill_swatch.png": "f3ad5cc69ad999309fa19461c7feeb7b9ae8f35d4aef92cd0af342f2407ff7f2",
+    "review/colors/fill_swatch.txt": "c7aa9cab3ba27ce8cf7cad7e3fd204addd3a02870de361a30b7e5079394e41dc",
+    "review/colors/view_0_visibility.png": "cf0a354dca156be04ea2d3a858a4b0981c89e386930276e4ab04e0926475009e",
+    "review/colors/view_1_visibility.png": "c86ba170190f668db3508c32ac1f2e5c9d38d662b169fc769a462ff4f1ccbb40",
+    "review/colors/view_2_visibility.png": "5bb03a741b6e3e14fc97abc96928fe42ed311073dfd2fa1a2279ae7c8b19b864",
+    "review/colors/view_3_visibility.png": "6877c7d1630cddb82dc3eec478bfd2b1d14f48624766b28ea9b875651ada18c1",
+    "review/colors/visibility_and_fill.png": "e763be5ae281e78508eed1dd1b73b31b0429b92d4edd158101a6fac9a5bf227e",
+    "review/hybrid/combined.png": "57e561cf666319eda51c3bcfa4f22f66d0da5ef06b8410be2d23820abb6788bc",
+    "review/hybrid/mesh.png": "4e5be549dee37b88ddd0292f3b32140b33ee0691ace000bb6ab2aece9ccd1a90",
+    "review/hybrid/observed.png": "2d3da767d7b0c3cef312e5348f9ee232989e16d8e1baf4cc9ca8c953d4751723",
+    "review/inputs/cloud_by_view.png": "22c3f0ebbdd62ff2c48792e1a13c3447eb1b3c7783d54760fd6dd2bddc79baaa",
+    "review/inputs/cloud_rgb.png": "08b7b8d86cf03def95fe6bf9429919cdb0b3505de64c086ce2cea57a35208edb",
+    "review/inputs/depth_offset.png": "cc408105c3bd5c5ee4371679536779804746f3a1cfccaf9495e749fe0ab0f29a",
+    "review/inputs/depth_offset_table.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74",
+    "review/inputs/filter_removed.png": "8c9a33dbe3da0f7b352a972ad5f991ab262a943b0bb429803eedc15bffc8296a",
+    "review/inputs/view_0_12540311.png": "4127337a800e2c64ec630fd62c97ae7a8195cb1fc082c04ddaf703a5c7acb96e",
+    "review/inputs/view_1_12933256.png": "9205ca8411072088315531113c0cf06b107d4c5bfbe5907e0d2dc1de50565737",
+    "review/inputs/view_2_17736741.png": "fbea7fed1a53e63e05bd6e4058c375c86e93ccdef2392d69a21a39a12dfdfbc0",
+    "review/inputs/view_3_23007103.png": "9f5cd6ab205fcbcb82f447435545f218a23b9432cac23f7dc40666e389a51943",
+    "review/rerun/headless_contact_sheet.png": "ff0a76f373a7b072c0c09ac80f943c3799a2dad0d61c7587806cd83054bb5366",
+    "review/spline/centerline_0_unmasked.png": "f0ce79786de5a0695c36e48b9c5e443465eef397f7916f24ad7286ab56995b60",
+    "review/spline/centerline_0_with_masks.png": "b89490b4db2be8fe6d0e2fdfd2129bc5df77c2708264339e627c44da132a5f96",
+    "review/spline/centerline_1_unmasked.png": "35afcbc36fc606f7c268dc2174c0acdee2e53130da989998ba025a4bcf2d8150",
+    "review/spline/centerline_1_with_masks.png": "2ccd9e5100c70ad820211b4d4ca76c8f3783c0092bc64f00b9f02c69a4ae2506",
+    "review/spline/centerline_2_unmasked.png": "bfd0894a6eb23e00eefe3ad3b2686f3bcbff14862207e81b6b4a3c335930e7b1",
+    "review/spline/centerline_2_with_masks.png": "20b39c73f4ec4682834a13019144c718569bef7f2e6fdf1fb196c912e1e6462c",
+    "review/spline/centerline_3_unmasked.png": "2b95e405c7903fdd993c580da3cf3320263d8257d00f52b9633ac792f7903752",
+    "review/spline/centerline_3_with_masks.png": "a16271a70048c95c584893fde2699caa17ca962de83b57a54b12eea65815fc63",
+    "review/spline/curvature_profile.png": "2f1934641ba4a0d7ad8b3fbb64073a2e54aa45920069eb48397cdde116c2ee54",
+    "review/spline/fit_3d.png": "e0a3160506f7c0759dea5b7c2f68b73c70a595538d48dc80e5ed05b1ebc11bd6",
+    "review/spline/fit_projections.png": "2fd08081e9d109a0c2cd13b8156079303de3baeaf26ab8e205933aa0e7ae3c0d",
+    "review/spline/per_view_arc_coverage.png": "67012785a1aa4f5f280edb563ba090c09eb2c2ad81929be703ccd0504a6c5aa7",
+    "review/spline/residual_histograms.png": "dcd7d67aa81a8ee1f442e34fe9f1d28dca5989e516452e4b863e1360fa990729",
+    "review/spline/round_curves.png": "c568a87b5c5c99ee3f7facc8d12bd820dd2d2485cc463086d12bb4f1cf8d3491",
+    "review/tube/check_table.json": "b571c217a17fc64f28ca4833de161dc0dce12f455e1ceba2aabbef346a0fd4e7",
+    "review/tube/orbit.mp4": "3c8b8778ab2ea495632e1159dd3469a1a1c9f03224dedef850a3e7dbd9e4459f",
+    "review/tube/silhouette_0_unmasked.png": "b754dd046ea01dd0250e28654baaba9cd7a5ebd03edd47203d7401e1e87046cd",
+    "review/tube/silhouette_0_with_masks.png": "7dac3431ded74fd4d2640af0f0fefeaf17a34f99295b10048200d91305b55fed",
+    "review/tube/silhouette_1_unmasked.png": "3a2498e9c0693020c3041ed75302a251660e52ca37639f5784467d04ecc9e862",
+    "review/tube/silhouette_1_with_masks.png": "3d2a590b31f827ec6f3c0c9784af20b97522bcf8a30824567545034149d5bd54",
+    "review/tube/silhouette_2_unmasked.png": "628a2ab79cd157d9b9079b061945fedcd561df0d6031983ba0be3e59c7bca901",
+    "review/tube/silhouette_2_with_masks.png": "18a7bc65e30f53907f8aee2d5b4b4fbf3ae782147bea5e778555aa8a518250eb",
+    "review/tube/silhouette_3_unmasked.png": "12119fa4a94360ff52ec0fc2ecb49ddcc14a1045d3c53b57d33474338bbdc532",
+    "review/tube/silhouette_3_with_masks.png": "8e82c7829c613ab2a50849271e7223cd7d5132849af75d50b19868c30f777fe9",
+    "review/tube/tube_profiles.png": "cef00b90d86c5fe33e2aa4273c066dbf0b4d6338aae44c96da0655b557c1a612",
+    "review/tube/tube_scale_views.png": "eac435db7176491d9b28ce56cc712fe4e10ded8196fa4406325345f49d02cd4f",
+    "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+    "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5",
+    "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f",
+    "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1",
+    "spline/init_ellipse.json": "27d464a292a3d50a9fa0417ec117ee2b28f13a5f58f401f33f6de218ef265d6f",
+    "spline/reprojection.json": "1737d30ec0c09af4fa1439059fc1af10c1fa0875f07cfddc2aff84f56682f254",
+    "spline/reprojection_residuals.npz": "8a9ba702126c2289660c76a223d8ceb827a3086b090a7c861e34359ae6a4e0c8",
+    "spline/residuals.npz": "34d6d250a92142ece0a2805f9d9e8be1f1fb771881ad6ef217e9ace0371c556c",
+    "spline/rounds.jsonl": "69fe78fd1034822a6abcc9198f6395ce55939d6f0cf584ef544a7fd74c8168ed",
+    "spline/spline_fit.json": "69f21731d4ca6e9fd869caf908c5a1b0730a642907af31ed2a95d7604dc0a074",
+    "spline/spline_init.json": "7087e20c590bd351982e09a337650bab38cbf66eaa4ddb581978b1dc180ee392",
+    "spline/witness.json": "9021e8d6d6e019fa4adc745ee9b3620ff75852583b523c7918ec6ea9b265ba6a",
+    "steps/colors.json": "132c023e1583fb534c67ccfa9d93dc51f986b7d10899e138938a92ea45a88596",
+    "steps/diagnose-depth.json": "ab6c5ecac674bbaccdbbe54048d5a4f4ef1c354ac15b070447327d45a60fdd8f",
+    "steps/fit.json": "6293de5027652bc57f5fdb6344d950b03c7a04aabcbdeb2fd771be813250e8a2",
+    "steps/hybrid.json": "c7e774f3224a1853a7d3dfc240982380b3cfdeb9d2a4f704780ad33a9701dc04",
+    "steps/inputs.json": "66666452fd054759cc45f891fa974dd0e38abea99a782ffa053dd12b82bbe76b",
+    "steps/review.json": "5785c45847a516abecc6ab73e0099e353b2b5e8fd58a2e8f5099a41b73225696",
+    "steps/tube.json": "0c2cd49097adf1d5aa794c6eb6e714a833b5f0c717111798898349b4383e3a2b",
+    "tube/geometry.npz": "634527fe727bf5477f3a893c503402242ecf8d9ba97d6a289cc819ff630acdc0",
+    "tube/shape_prior.glb": "61a762ebbbbf034af08558a3e89042f74ed1b2600a632b70caa25d845129553f",
+    "tube/triangle_areas.npz": "30ca61cdd6d683db8adfac2abb8bc0d5654ebf7ffd668eaae8b2e97885acadd3",
+    "tube/tube.ply": "7f5650bf869e5f01632eb0954e42e9e46bf9d770ce9a3e668c2d0228c098e7e2",
+    "tube/tube_checks.json": "b571c217a17fc64f28ca4833de161dc0dce12f455e1ceba2aabbef346a0fd4e7"
+  }
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd
new file mode 100644
index 0000000000000000000000000000000000000000..46848ae27c7f7cd3de2b82197b07484ea80c6e37
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d990e1413591da9b68675a368f7f05bbbeb4c17fa864a1ff6662e5f0ed0afd17
+size 25883576
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.png
new file mode 100644
index 0000000000000000000000000000000000000000..1703bbc5f19afec03a2a94f2118779c88e5c33d4
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3ad5cc69ad999309fa19461c7feeb7b9ae8f35d4aef92cd0af342f2407ff7f2
+size 393
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.txt b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f047230f2ac39f6b84b81b83dc205198733961b
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.txt
@@ -0,0 +1,2 @@
+Per-channel median of 1033 observed vertex colours (RGB/255): [0.19151199457841903, 0.14729120331111872, 0.13725490196078433]
+Filled 695 vertices.
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_0_visibility.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_0_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..4856c4589d1382ea1606e1cf955d4a40efb5297c
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_0_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf0a354dca156be04ea2d3a858a4b0981c89e386930276e4ab04e0926475009e
+size 138155
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_1_visibility.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_1_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..031b2bece2f1c8b89f6034a516580bedbfe6d513
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_1_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c86ba170190f668db3508c32ac1f2e5c9d38d662b169fc769a462ff4f1ccbb40
+size 123200
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_2_visibility.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_2_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..f87fc939f5761dd1788e28897520fbfb3cee3f4c
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_2_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb03a741b6e3e14fc97abc96928fe42ed311073dfd2fa1a2279ae7c8b19b864
+size 142257
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_3_visibility.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_3_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..c40a980b109eb63f6f1a06d84eac5f8c500bca4a
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_3_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6877c7d1630cddb82dc3eec478bfd2b1d14f48624766b28ea9b875651ada18c1
+size 136095
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/visibility_and_fill.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/visibility_and_fill.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aff95ad0ad55f9e196823b4fc7d999909a77f99
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/visibility_and_fill.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e763be5ae281e78508eed1dd1b73b31b0429b92d4edd158101a6fac9a5bf227e
+size 169738
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/hybrid/combined.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/hybrid/combined.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1541274a75a8c573f4b67fc3a2d779378aca091
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/hybrid/combined.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e561cf666319eda51c3bcfa4f22f66d0da5ef06b8410be2d23820abb6788bc
+size 151375
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/hybrid/mesh.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/hybrid/mesh.png
new file mode 100644
index 0000000000000000000000000000000000000000..49388944228cf4a2571ba6e95f8eca37c26fa33a
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/hybrid/mesh.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5be549dee37b88ddd0292f3b32140b33ee0691ace000bb6ab2aece9ccd1a90
+size 227528
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/rerun/headless_contact_sheet.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/rerun/headless_contact_sheet.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3a8f7b18dae0a32d6a32cce482fc006c665f23c
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/rerun/headless_contact_sheet.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff0a76f373a7b072c0c09ac80f943c3799a2dad0d61c7587806cd83054bb5366
+size 1158392
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_0_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_0_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..ceafb418f0254aa420453c97b04101c2e40fa128
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_0_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0ce79786de5a0695c36e48b9c5e443465eef397f7916f24ad7286ab56995b60
+size 199873
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_0_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_0_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..079ad63a6876eea1967b5f953fb024b14102fd71
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_0_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b89490b4db2be8fe6d0e2fdfd2129bc5df77c2708264339e627c44da132a5f96
+size 194423
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_1_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_1_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcd0f86716ad40ee1043d2a43b3605473987eb1d
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_1_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35afcbc36fc606f7c268dc2174c0acdee2e53130da989998ba025a4bcf2d8150
+size 145858
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_1_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_1_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..4465d1e57e634384b5f8597a8a4d29e914abb6a4
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_1_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ccd9e5100c70ad820211b4d4ca76c8f3783c0092bc64f00b9f02c69a4ae2506
+size 140944
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_2_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_2_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..959bce246bd7b35db87379b724ecdb3237ac1817
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_2_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfd0894a6eb23e00eefe3ad3b2686f3bcbff14862207e81b6b4a3c335930e7b1
+size 215730
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_2_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_2_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..13eac978b36b7a344c5d178550b833ed46605188
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_2_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b39c73f4ec4682834a13019144c718569bef7f2e6fdf1fb196c912e1e6462c
+size 211350
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_3_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_3_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..00d483fe24a1f6b85b41b224906576b5e18feff4
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_3_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b95e405c7903fdd993c580da3cf3320263d8257d00f52b9633ac792f7903752
+size 142757
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_3_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_3_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..43d8f883cd59f622a53997c2f30f235fa2f2286c
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/centerline_3_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a16271a70048c95c584893fde2699caa17ca962de83b57a54b12eea65815fc63
+size 140613
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/curvature_profile.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/curvature_profile.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2462ab2136d7b23cca35514fbb9f41fb7162d6b
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/curvature_profile.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f1934641ba4a0d7ad8b3fbb64073a2e54aa45920069eb48397cdde116c2ee54
+size 82116
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/fit_3d.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/fit_3d.png
new file mode 100644
index 0000000000000000000000000000000000000000..398153c0c8d219d0061aeb642cd7effc93843925
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/fit_3d.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0a3160506f7c0759dea5b7c2f68b73c70a595538d48dc80e5ed05b1ebc11bd6
+size 434462
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/fit_projections.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/fit_projections.png
new file mode 100644
index 0000000000000000000000000000000000000000..08085ece19660e03441e866246f1cff99ed76194
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/fit_projections.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fd08081e9d109a0c2cd13b8156079303de3baeaf26ab8e205933aa0e7ae3c0d
+size 187236
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/per_view_arc_coverage.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/per_view_arc_coverage.png
new file mode 100644
index 0000000000000000000000000000000000000000..f59fede9e806b2f3654dad87fd8fcafcac3c1098
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/per_view_arc_coverage.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67012785a1aa4f5f280edb563ba090c09eb2c2ad81929be703ccd0504a6c5aa7
+size 40106
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/residual_histograms.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/residual_histograms.png
new file mode 100644
index 0000000000000000000000000000000000000000..7313c9b0cacc72fdf79a348d64e5518a3a6661a0
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/residual_histograms.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcd7d67aa81a8ee1f442e34fe9f1d28dca5989e516452e4b863e1360fa990729
+size 53470
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/round_curves.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/round_curves.png
new file mode 100644
index 0000000000000000000000000000000000000000..d719060953b553c8b14b34913c55ff8e24678b22
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/spline/round_curves.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c568a87b5c5c99ee3f7facc8d12bd820dd2d2485cc463086d12bb4f1cf8d3491
+size 60940
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/check_table.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/check_table.json
new file mode 100644
index 0000000000000000000000000000000000000000..357e343bd751a336472c817ffe5becd9831fb473
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/check_table.json
@@ -0,0 +1,41 @@
+{
+  "euler_characteristic": 0,
+  "watertight": true,
+  "components": 1,
+  "winding_consistent": true,
+  "signed_volume_m3": 3.956278791192756e-05,
+  "minimum_outward_normal_dot_m": 0.00455353984958401,
+  "degenerate_triangles": 0,
+  "self_intersecting": false,
+  "maximum_radius_error_m": 7.689644228661696e-09,
+  "maximum_diameter_error_m": 1.5348802845024934e-08,
+  "bishop_seam_error": 5.960464477539063e-08,
+  "minimum_nonadjacent_centerline_distance_m": 0.004108392938893334,
+  "triangle_area_m2": {
+    "min": 2.152043776562718e-06,
+    "median": 5.102835213310572e-06,
+    "mean": 4.992817718519569e-06,
+    "max": 7.559738818039819e-06,
+    "density_max_over_min": 3.512818326639417
+  },
+  "bounds_m": [
+    [
+      -0.04117804020643234,
+      -0.1839023381471634,
+      -0.0014119537081569433
+    ],
+    [
+      0.14597740769386292,
+      -0.013479825109243393,
+      0.022065378725528717
+    ]
+  ],
+  "radius_m": 0.00475,
+  "step_t": 0.125,
+  "step_angle_deg": 30,
+  "overlap_rule": "surface_intersection",
+  "open3d_reported_intersecting_pairs": 0,
+  "confirmed_intersecting_pairs": [],
+  "passed": true,
+  "orientation_flipped": true
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/orbit.mp4 b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/orbit.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d72d30679800c90dbedaad5239e4e2b0d70053a9
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/orbit.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c8b8778ab2ea495632e1159dd3469a1a1c9f03224dedef850a3e7dbd9e4459f
+size 1150002
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_0_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_0_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..23cbde375cd0e7f85f61a7533e0a27b1e0adc684
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_0_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b754dd046ea01dd0250e28654baaba9cd7a5ebd03edd47203d7401e1e87046cd
+size 198962
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_0_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_0_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b89b6b034b602536222572e9aaf8a6b38e95086
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_0_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dac3431ded74fd4d2640af0f0fefeaf17a34f99295b10048200d91305b55fed
+size 203008
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_1_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_1_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b4c8bc58b6c13244921403b30e1e21d142c44c3
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_1_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2498e9c0693020c3041ed75302a251660e52ca37639f5784467d04ecc9e862
+size 153616
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_1_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_1_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..73435ef83ce42396ef15739a88673579ecaa7be3
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_1_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2a590b31f827ec6f3c0c9784af20b97522bcf8a30824567545034149d5bd54
+size 157312
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_2_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_2_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..291a8ddfc6b1c988b6fbf34c925f7568e653110c
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_2_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:628a2ab79cd157d9b9079b061945fedcd561df0d6031983ba0be3e59c7bca901
+size 206609
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_2_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_2_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..18b1e468cf8ed3a12fbb0afc4c33d39af60a7a20
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_2_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a7bc65e30f53907f8aee2d5b4b4fbf3ae782147bea5e778555aa8a518250eb
+size 213047
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_3_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_3_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c82e6ac9d72e3c039b0b68e668d677a10d4c536
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_3_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12119fa4a94360ff52ec0fc2ecb49ddcc14a1045d3c53b57d33474338bbdc532
+size 149534
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_3_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_3_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5f9bd528a3a5494a782c45318e1579e90db3b76
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/silhouette_3_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e82c7829c613ab2a50849271e7223cd7d5132849af75d50b19868c30f777fe9
+size 154933
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/tube_profiles.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/tube_profiles.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3b036d77123728850806323e6a6c40ad9dc0ecd
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/tube_profiles.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cef00b90d86c5fe33e2aa4273c066dbf0b4d6338aae44c96da0655b557c1a612
+size 481170
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/tube_scale_views.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/tube_scale_views.png
new file mode 100644
index 0000000000000000000000000000000000000000..e418141c56f38078995bba143a1d336e57da85ec
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/tube/tube_scale_views.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac435db7176491d9b28ce56cc712fe4e10ded8196fa4406325345f49d02cd4f
+size 281354
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/reprojection.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/reprojection.json
new file mode 100644
index 0000000000000000000000000000000000000000..438744a733ac4de5f4af1f856c2c283c6ec45467
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/reprojection.json
@@ -0,0 +1,63 @@
+{
+  "samples": 360,
+  "direction": "visible mask pixels to projected centerline",
+  "per_view": [
+    {
+      "view": 0,
+      "serial": "12540311",
+      "mask_pixels": 10370,
+      "median_depth_m": 1.111,
+      "mean_m": 0.003844704921815472,
+      "median_m": 0.0035417342106970557,
+      "p90_m": 0.007379674288908009,
+      "mean_px": 5.210511910230167,
+      "median_px": 4.799909304029113,
+      "p90_px": 10.00124116239806,
+      "visible_centerline_samples": 269,
+      "outside_mask_fraction": 0.0
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "mask_pixels": 5954,
+      "median_depth_m": 1.116,
+      "mean_m": 0.0038101257089329416,
+      "median_m": 0.0035444493214184265,
+      "p90_m": 0.007228442556042374,
+      "mean_px": 5.069618944349611,
+      "median_px": 4.716129126745396,
+      "p90_px": 9.617918404964243,
+      "visible_centerline_samples": 193,
+      "outside_mask_fraction": 0.015544041450777202
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "mask_pixels": 10117,
+      "median_depth_m": 1.125,
+      "mean_m": 0.003525536514360341,
+      "median_m": 0.0033802527699573846,
+      "p90_m": 0.006383246967434594,
+      "mean_px": 4.729089623177235,
+      "median_px": 4.534240472124178,
+      "p90_px": 8.56236200857139,
+      "visible_centerline_samples": 283,
+      "outside_mask_fraction": 0.0176678445229682
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "mask_pixels": 6403,
+      "median_depth_m": 0.9430000000000001,
+      "mean_m": 0.004012326868299603,
+      "median_m": 0.003776406050852384,
+      "p90_m": 0.007641502149421236,
+      "mean_px": 4.485178180697876,
+      "median_px": 4.221458458950085,
+      "p90_px": 8.542064589344292,
+      "visible_centerline_samples": 263,
+      "outside_mask_fraction": 0.0076045627376425855
+    }
+  ],
+  "mean_of_view_means_m": 0.0037981735033520894
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/reprojection_residuals.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/reprojection_residuals.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6927b7d30da02d51cb79b4d7e2cb5bee5070200
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/reprojection_residuals.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a9ba702126c2289660c76a223d8ceb827a3086b090a7c861e34359ae6a4e0c8
+size 1052024
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/residuals.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/residuals.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a97223df88304a2ace0e7ffd097b4c3a2cfc48b2
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/residuals.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d6d250a92142ece0a2805f9d9e8be1f1fb771881ad6ef217e9ace0371c556c
+size 1256246
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/rounds.jsonl b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/rounds.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..454d3fbe3200da9e73487935c52611737df2ae26
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/rounds.jsonl
@@ -0,0 +1 @@
+{"loss": 5.935083026997745e-05, "components": {"distance": 2.2450318283517845e-05, "curvature": 4.0881488416744105e-07, "arclength": 3.157069716763772e-09, "mask_reprojection_2d": 3.648854180937633e-05}, "grad_norm": 7.994358747964725e-05, "arclength_m": 0.5851776599884033, "arclength_bound_active_within_1mm": true, "max_curvature_per_m": 76.95549011230469, "curvature_p50_p90_per_m": [10.894053936004639, 40.940660858154295], "curvature_above_max_fraction": 0.536, "mean_distance_m": 0.007080405422905114, "max_distance_m": 0.0223002340644598, "beyond_2delta_fraction": 0.1288869060896721, "at_cap_fraction": 0.0, "per_view": [{"view": 0, "count": 7290, "median_m": 0.007497213548049331, "p90_m": 0.011150617804378277, "max_m": 0.01435480173677206, "beyond_2delta_fraction": 0.200960219478738, "at_cap_fraction": 0.0}, {"view": 1, "count": 4154, "median_m": 0.004817647626623511, "p90_m": 0.0075666192919015916, "max_m": 0.011014209128916264, "beyond_2delta_fraction": 0.01203659123736158, "at_cap_fraction": 0.0}, {"view": 2, "count": 6985, "median_m": 0.007075323257595301, "p90_m": 0.010250700637698175, "max_m": 0.013602840714156628, "beyond_2delta_fraction": 0.11739441660701504, "at_cap_fraction": 0.0}, {"view": 3, "count": 3986, "median_m": 0.0071439913008362055, "p90_m": 0.01072401087731123, "max_m": 0.0223002340644598, "beyond_2delta_fraction": 0.13898645258404416, "at_cap_fraction": 0.0}], "round": 1, "relative_loss_change": 0.9846871518286671}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/spline_fit.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/spline_fit.json
new file mode 100644
index 0000000000000000000000000000000000000000..18238e69363bf647aa8b4b2d11e332020ee1e2f3
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/spline_fit.json
@@ -0,0 +1,98 @@
+{
+  "version": 1,
+  "M": 18,
+  "basis_function": "JaxB3",
+  "closed": true,
+  "control_points": [
+    [
+      0.1347542405128479,
+      -0.14715859293937683,
+      0.005039292853325605
+    ],
+    [
+      0.1249399334192276,
+      -0.1716390699148178,
+      0.004621466621756554
+    ],
+    [
+      0.08533482998609543,
+      -0.1740003228187561,
+      0.0031179918441921473
+    ],
+    [
+      0.055445596575737,
+      -0.18197202682495117,
+      0.007000753190368414
+    ],
+    [
+      0.021617179736495018,
+      -0.1734003871679306,
+      0.007303203456103802
+    ],
+    [
+      -0.014998436905443668,
+      -0.1828119456768036,
+      0.0037549801636487246
+    ],
+    [
+      -0.023418106138706207,
+      -0.14659057557582855,
+      0.005530728958547115
+    ],
+    [
+      -0.025539757683873177,
+      -0.10495711863040924,
+      0.00283302110619843
+    ],
+    [
+      -0.03229852765798569,
+      -0.08717027306556702,
+      0.0075248004868626595
+    ],
+    [
+      -0.03286701813340187,
+      -0.07242147624492645,
+      0.0040307906456291676
+    ],
+    [
+      -0.041005510836839676,
+      -0.035702530294656754,
+      0.004965655505657196
+    ],
+    [
+      -0.013379787094891071,
+      -0.022642789408564568,
+      0.006731080822646618
+    ],
+    [
+      0.026349710300564766,
+      -0.02338065207004547,
+      0.004892926197499037
+    ],
+    [
+      0.057969871908426285,
+      -0.014178489334881306,
+      0.008212897926568985
+    ],
+    [
+      0.08546055108308792,
+      -0.030479684472084045,
+      0.017215119674801826
+    ],
+    [
+      0.12135528773069382,
+      -0.035127729177474976,
+      0.018477922305464745
+    ],
+    [
+      0.14732176065444946,
+      -0.052835073322057724,
+      0.0024960539303719997
+    ],
+    [
+      0.13393935561180115,
+      -0.10430849343538284,
+      0.0035301626194268465
+    ]
+  ]
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/spline_init.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/spline_init.json
new file mode 100644
index 0000000000000000000000000000000000000000..714c615a53146112e179690473a5ce6c61336ff3
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/spline/spline_init.json
@@ -0,0 +1,98 @@
+{
+  "version": 1,
+  "M": 18,
+  "basis_function": "JaxB3",
+  "closed": true,
+  "control_points": [
+    [
+      0.10720321536064148,
+      -0.13176146149635315,
+      0.007524646818637848
+    ],
+    [
+      0.09632430225610733,
+      -0.1472383439540863,
+      0.007475878577679396
+    ],
+    [
+      0.07833115011453629,
+      -0.15791592001914978,
+      0.007546949200332165
+    ],
+    [
+      0.05569450557231903,
+      -0.16193406283855438,
+      0.007732103578746319
+    ],
+    [
+      0.03099214658141136,
+      -0.159129336476326,
+      0.008007287047803402
+    ],
+    [
+      0.007293638773262501,
+      -0.14966630935668945,
+      0.008340148255228996
+    ],
+    [
+      -0.012581823393702507,
+      -0.1347820907831192,
+      0.008689981885254383
+    ],
+    [
+      -0.02620830573141575,
+      -0.1162259578704834,
+      0.009014768525958061
+    ],
+    [
+      -0.031951576471328735,
+      -0.09626598656177521,
+      0.009275110438466072
+    ],
+    [
+      -0.029111318290233612,
+      -0.07730256021022797,
+      0.009439612738788128
+    ],
+    [
+      -0.01803312823176384,
+      -0.06163056939840317,
+      0.009488383308053017
+    ],
+    [
+      -5.6453049182891846e-05,
+      -0.05114839971065521,
+      0.009415495209395885
+    ],
+    [
+      0.022650036960840225,
+      -0.04710926115512848,
+      0.009229850955307484
+    ],
+    [
+      0.047333233058452606,
+      -0.050029706209897995,
+      0.00895368680357933
+    ],
+    [
+      0.07102793455123901,
+      -0.05950231850147247,
+      0.00862077809870243
+    ],
+    [
+      0.0908365547657013,
+      -0.07448471337556839,
+      0.008270596154034138
+    ],
+    [
+      0.10442835837602615,
+      -0.09297407418489456,
+      0.007946841418743134
+    ],
+    [
+      0.11004521697759628,
+      -0.11309435963630676,
+      0.007686126045882702
+    ]
+  ]
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/colors.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/colors.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d0af464e3d48263cc8c43673150e1a16c2247a
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/colors.json
@@ -0,0 +1,67 @@
+{
+  "status": "ok",
+  "settings": {
+    "depth_tolerance_m": 0.025
+  },
+  "outputs": {
+    "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": 592,
+        "projected_inside": 1728,
+        "first_hit": 913
+      },
+      {
+        "view": 1,
+        "serial": "12933256",
+        "observed_vertices": 422,
+        "projected_inside": 1728,
+        "first_hit": 932
+      },
+      {
+        "view": 2,
+        "serial": "17736741",
+        "observed_vertices": 625,
+        "projected_inside": 1728,
+        "first_hit": 923
+      },
+      {
+        "view": 3,
+        "serial": "23007103",
+        "observed_vertices": 553,
+        "projected_inside": 1728,
+        "first_hit": 920
+      }
+    ],
+    "observed_vertices": 1033,
+    "filled_vertices": 695,
+    "fill_color_rgb": [
+      0.19151199457841903,
+      0.14729120331111872,
+      0.13725490196078433
+    ],
+    "glb_roundtrip": {
+      "float32_positions_exact": true,
+      "vertex_colors_exact": true,
+      "uv_count": 0,
+      "vertex_reordered_on_open3d_load": true
+    },
+    "files": {
+      "colors/vertex_colors.npz": "006220dd543aa1068c2922c3595bb048ff1e194b2e1608a16a1e84dea466b412",
+      "colors/color_summary.json": "69de71adf441948c2303240433dff3db2826f40e49968dc16b89d469c4d337f5",
+      "tube/shape_prior.glb": "61a762ebbbbf034af08558a3e89042f74ed1b2600a632b70caa25d845129553f",
+      "tube/tube.ply": "7f5650bf869e5f01632eb0954e42e9e46bf9d770ce9a3e668c2d0228c098e7e2",
+      "gaussian_data/session_20260921_233350_440979/shape_prior.glb": "61a762ebbbbf034af08558a3e89042f74ed1b2600a632b70caa25d845129553f"
+    }
+  },
+  "code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 1.1279997825622559
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/fit.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/fit.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ff2f57e9036ea86d500b177c5fbdb73a5ecaa01
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/fit.json
@@ -0,0 +1,214 @@
+{
+  "status": "ok",
+  "settings": {
+    "object": {
+      "name": "bike_chain",
+      "representation": "tube",
+      "fitter_source": "scripts/chain_state_estimation.py loss/solver literals",
+      "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)",
+      "radius_m": 0.00475,
+      "ribbon_width_m": null,
+      "step_t": 0.125,
+      "step_angle_deg": 30,
+      "u_resolution": null,
+      "overlap_rule": "surface_intersection",
+      "twist_penalty": null
+    },
+    "max_rounds": 400,
+    "control_count": 18,
+    "relative_loss_tolerance": 1e-07,
+    "reprojection": {
+      "weight": 4.0,
+      "direction": "visible mask pixels to projected centerline",
+      "ribbon_twist_stage": null,
+      "mask": "accepted object outside hand/occluder union",
+      "view_aggregation": "equal view means",
+      "distance": "metric image plane using per-view median visible belt depth and fx/fy",
+      "samples": 360,
+      "huber_delta_m": 0.005,
+      "smooth_cap_m": 0.035,
+      "baseline_run": null
+    },
+    "loss_config": {
+      "eval_distances": true,
+      "max_saturation_distance": 0.035,
+      "distance_huber_delta": 0.005,
+      "eval_curvature_cost": true,
+      "num_eval_reg_points": 250,
+      "lambda_curvature_cost": 5e-09,
+      "max_curvature": 10.0,
+      "curvature_huber_delta": 30.0,
+      "max_saturation_curvature": 80.0,
+      "eval_curvilinear_energy": false,
+      "lambda_curvilinear_energy": 0.001,
+      "eval_length_constraint": true,
+      "lambda_length_constraint": 0.1,
+      "arclength_bounds": [
+        0.5830000042915344,
+        0.5849999785423279
+      ]
+    },
+    "solver_config": {
+      "solver_type": "lbfgs",
+      "linesearch_type": "zoom",
+      "max_linesearch_steps": 10,
+      "grad_norm_tolerance": 0.0001,
+      "max_iter": 25
+    },
+    "ribbon_twist_refinement": null
+  },
+  "outputs": {
+    "filter": {
+      "method": "Open3D.remove_statistical_outlier",
+      "nb_neighbors": 20,
+      "std_ratio": 2.0,
+      "input_count": 23373,
+      "kept_count": 22415,
+      "removed_count": 958,
+      "per_view": [
+        {
+          "view": 0,
+          "input": 7620,
+          "kept": 7290,
+          "removed": 330,
+          "live_20_0.05_kept": 5404,
+          "no_filter_kept": 7620
+        },
+        {
+          "view": 1,
+          "input": 4253,
+          "kept": 4154,
+          "removed": 99,
+          "live_20_0.05_kept": 2921,
+          "no_filter_kept": 4253
+        },
+        {
+          "view": 2,
+          "input": 7178,
+          "kept": 6985,
+          "removed": 193,
+          "live_20_0.05_kept": 4904,
+          "no_filter_kept": 7178
+        },
+        {
+          "view": 3,
+          "input": 4322,
+          "kept": 3986,
+          "removed": 336,
+          "live_20_0.05_kept": 1070,
+          "no_filter_kept": 4322
+        }
+      ]
+    },
+    "rounds": 1,
+    "stop": "gradient_tolerance",
+    "final": {
+      "loss": 5.935083026997745e-05,
+      "components": {
+        "distance": 2.2450318283517845e-05,
+        "curvature": 4.0881488416744105e-07,
+        "arclength": 3.157069716763772e-09,
+        "mask_reprojection_2d": 3.648854180937633e-05
+      },
+      "grad_norm": 7.994358747964725e-05,
+      "arclength_m": 0.5851776599884033,
+      "arclength_bound_active_within_1mm": true,
+      "max_curvature_per_m": 76.95549011230469,
+      "curvature_p50_p90_per_m": [
+        10.894053936004639,
+        40.940660858154295
+      ],
+      "curvature_above_max_fraction": 0.536,
+      "mean_distance_m": 0.007080405422905114,
+      "max_distance_m": 0.0223002340644598,
+      "beyond_2delta_fraction": 0.1288869060896721,
+      "at_cap_fraction": 0.0,
+      "per_view": [
+        {
+          "view": 0,
+          "count": 7290,
+          "median_m": 0.007497213548049331,
+          "p90_m": 0.011150617804378277,
+          "max_m": 0.01435480173677206,
+          "beyond_2delta_fraction": 0.200960219478738,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 1,
+          "count": 4154,
+          "median_m": 0.004817647626623511,
+          "p90_m": 0.0075666192919015916,
+          "max_m": 0.011014209128916264,
+          "beyond_2delta_fraction": 0.01203659123736158,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 2,
+          "count": 6985,
+          "median_m": 0.007075323257595301,
+          "p90_m": 0.010250700637698175,
+          "max_m": 0.013602840714156628,
+          "beyond_2delta_fraction": 0.11739441660701504,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 3,
+          "count": 3986,
+          "median_m": 0.0071439913008362055,
+          "p90_m": 0.01072401087731123,
+          "max_m": 0.0223002340644598,
+          "beyond_2delta_fraction": 0.13898645258404416,
+          "at_cap_fraction": 0.0
+        }
+      ],
+      "round": 1,
+      "relative_loss_change": 0.9846871518286671
+    },
+    "deterministic": true,
+    "partial_view_witness": {
+      "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
+      "control_count": 18,
+      "curvature_weight": 5e-09,
+      "seed": 5,
+      "noise_sigma_m": 0.0015,
+      "points": 288,
+      "tube_radius_m": 0.00475,
+      "truth_arclength_m": 0.5839999999999999,
+      "truth_corner_curvature_per_m": 100.0,
+      "fit_arclength_m": 0.5848049521446228,
+      "mean_centerline_distance_to_truth_m": 0.003304384713212965,
+      "max_centerline_distance_to_truth_m": 0.0057414166823648,
+      "corner_truth_to_fit_mean_max_m": [
+        0.0034466403731989066,
+        0.004110262860931054
+      ],
+      "straight_truth_to_fit_mean_m": 0.003288980337124959,
+      "fit_max_curvature_per_m": 123.24449920654297,
+      "fit_curvature_nearest_corners_p50_max_per_m": [
+        49.5619010925293,
+        123.24449920654297
+      ],
+      "rounds": 1,
+      "stop": "gradient_tolerance"
+    },
+    "files": {
+      "spline/reprojection_residuals.npz": "8a9ba702126c2289660c76a223d8ceb827a3086b090a7c861e34359ae6a4e0c8",
+      "spline/residuals.npz": "34d6d250a92142ece0a2805f9d9e8be1f1fb771881ad6ef217e9ace0371c556c",
+      "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1",
+      "spline/spline_init.json": "7087e20c590bd351982e09a337650bab38cbf66eaa4ddb581978b1dc180ee392",
+      "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+      "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5",
+      "spline/witness.json": "9021e8d6d6e019fa4adc745ee9b3620ff75852583b523c7918ec6ea9b265ba6a",
+      "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f",
+      "spline/spline_fit.json": "69f21731d4ca6e9fd869caf908c5a1b0730a642907af31ed2a95d7604dc0a074",
+      "spline/rounds.jsonl": "69fe78fd1034822a6abcc9198f6395ce55939d6f0cf584ef544a7fd74c8168ed",
+      "spline/init_ellipse.json": "27d464a292a3d50a9fa0417ec117ee2b28f13a5f58f401f33f6de218ef265d6f",
+      "spline/reprojection.json": "1737d30ec0c09af4fa1439059fc1af10c1fa0875f07cfddc2aff84f56682f254"
+    }
+  },
+  "code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 20.239184617996216
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/hybrid.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/hybrid.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab3ecdaab208bd6c338d879953dbfeb0d7b9d04
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/hybrid.json
@@ -0,0 +1,24 @@
+{
+  "status": "ok",
+  "settings": {
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+    "numpy_seed": 0,
+    "points_per_triangle": 30
+  },
+  "outputs": {
+    "counts": {
+      "observed": 22415,
+      "mesh": 103680,
+      "total": 126095,
+      "mesh_to_observed": 4.625474012937765
+    },
+    "files": {
+      "hybrid/populations.npz": "938936bdda2bef6682a265142b82bee2bca992bd9e0e359ad442e90b2c4e44bf"
+    }
+  },
+  "code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 0.8268294334411621
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/review.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/review.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8a2174d9d522320bb19b4cc734e69e3c5d519c4
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/review.json
@@ -0,0 +1,65 @@
+{
+  "status": "ok",
+  "settings": {
+    "historical_prior": null,
+    "historical_sha256": null,
+    "baseline_fit": null
+  },
+  "outputs": {
+    "review_files": 52,
+    "files": {
+      "review/hybrid/combined.png": "57e561cf666319eda51c3bcfa4f22f66d0da5ef06b8410be2d23820abb6788bc",
+      "review/hybrid/mesh.png": "4e5be549dee37b88ddd0292f3b32140b33ee0691ace000bb6ab2aece9ccd1a90",
+      "review/hybrid/observed.png": "2d3da767d7b0c3cef312e5348f9ee232989e16d8e1baf4cc9ca8c953d4751723",
+      "review/tube/tube_profiles.png": "cef00b90d86c5fe33e2aa4273c066dbf0b4d6338aae44c96da0655b557c1a612",
+      "review/tube/silhouette_1_unmasked.png": "3a2498e9c0693020c3041ed75302a251660e52ca37639f5784467d04ecc9e862",
+      "review/tube/silhouette_0_unmasked.png": "b754dd046ea01dd0250e28654baaba9cd7a5ebd03edd47203d7401e1e87046cd",
+      "review/tube/silhouette_0_with_masks.png": "7dac3431ded74fd4d2640af0f0fefeaf17a34f99295b10048200d91305b55fed",
+      "review/tube/silhouette_1_with_masks.png": "3d2a590b31f827ec6f3c0c9784af20b97522bcf8a30824567545034149d5bd54",
+      "review/tube/silhouette_2_unmasked.png": "628a2ab79cd157d9b9079b061945fedcd561df0d6031983ba0be3e59c7bca901",
+      "review/tube/silhouette_3_with_masks.png": "8e82c7829c613ab2a50849271e7223cd7d5132849af75d50b19868c30f777fe9",
+      "review/tube/silhouette_2_with_masks.png": "18a7bc65e30f53907f8aee2d5b4b4fbf3ae782147bea5e778555aa8a518250eb",
+      "review/tube/check_table.json": "b571c217a17fc64f28ca4833de161dc0dce12f455e1ceba2aabbef346a0fd4e7",
+      "review/tube/orbit.mp4": "3c8b8778ab2ea495632e1159dd3469a1a1c9f03224dedef850a3e7dbd9e4459f",
+      "review/tube/silhouette_3_unmasked.png": "12119fa4a94360ff52ec0fc2ecb49ddcc14a1045d3c53b57d33474338bbdc532",
+      "review/tube/tube_scale_views.png": "eac435db7176491d9b28ce56cc712fe4e10ded8196fa4406325345f49d02cd4f",
+      "review/inputs/depth_offset_table.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74",
+      "review/inputs/depth_offset.png": "cc408105c3bd5c5ee4371679536779804746f3a1cfccaf9495e749fe0ab0f29a",
+      "review/inputs/view_3_23007103.png": "9f5cd6ab205fcbcb82f447435545f218a23b9432cac23f7dc40666e389a51943",
+      "review/inputs/view_0_12540311.png": "4127337a800e2c64ec630fd62c97ae7a8195cb1fc082c04ddaf703a5c7acb96e",
+      "review/inputs/view_1_12933256.png": "9205ca8411072088315531113c0cf06b107d4c5bfbe5907e0d2dc1de50565737",
+      "review/inputs/cloud_rgb.png": "08b7b8d86cf03def95fe6bf9429919cdb0b3505de64c086ce2cea57a35208edb",
+      "review/inputs/filter_removed.png": "8c9a33dbe3da0f7b352a972ad5f991ab262a943b0bb429803eedc15bffc8296a",
+      "review/inputs/cloud_by_view.png": "22c3f0ebbdd62ff2c48792e1a13c3447eb1b3c7783d54760fd6dd2bddc79baaa",
+      "review/inputs/view_2_17736741.png": "fbea7fed1a53e63e05bd6e4058c375c86e93ccdef2392d69a21a39a12dfdfbc0",
+      "review/rerun/headless_contact_sheet.png": "ff0a76f373a7b072c0c09ac80f943c3799a2dad0d61c7587806cd83054bb5366",
+      "review/spline/centerline_0_with_masks.png": "b89490b4db2be8fe6d0e2fdfd2129bc5df77c2708264339e627c44da132a5f96",
+      "review/spline/centerline_3_unmasked.png": "2b95e405c7903fdd993c580da3cf3320263d8257d00f52b9633ac792f7903752",
+      "review/spline/per_view_arc_coverage.png": "67012785a1aa4f5f280edb563ba090c09eb2c2ad81929be703ccd0504a6c5aa7",
+      "review/spline/fit_projections.png": "2fd08081e9d109a0c2cd13b8156079303de3baeaf26ab8e205933aa0e7ae3c0d",
+      "review/spline/centerline_1_unmasked.png": "35afcbc36fc606f7c268dc2174c0acdee2e53130da989998ba025a4bcf2d8150",
+      "review/spline/centerline_2_with_masks.png": "20b39c73f4ec4682834a13019144c718569bef7f2e6fdf1fb196c912e1e6462c",
+      "review/spline/centerline_1_with_masks.png": "2ccd9e5100c70ad820211b4d4ca76c8f3783c0092bc64f00b9f02c69a4ae2506",
+      "review/spline/centerline_2_unmasked.png": "bfd0894a6eb23e00eefe3ad3b2686f3bcbff14862207e81b6b4a3c335930e7b1",
+      "review/spline/round_curves.png": "c568a87b5c5c99ee3f7facc8d12bd820dd2d2485cc463086d12bb4f1cf8d3491",
+      "review/spline/curvature_profile.png": "2f1934641ba4a0d7ad8b3fbb64073a2e54aa45920069eb48397cdde116c2ee54",
+      "review/spline/residual_histograms.png": "dcd7d67aa81a8ee1f442e34fe9f1d28dca5989e516452e4b863e1360fa990729",
+      "review/spline/centerline_3_with_masks.png": "a16271a70048c95c584893fde2699caa17ca962de83b57a54b12eea65815fc63",
+      "review/spline/fit_3d.png": "e0a3160506f7c0759dea5b7c2f68b73c70a595538d48dc80e5ed05b1ebc11bd6",
+      "review/spline/centerline_0_unmasked.png": "f0ce79786de5a0695c36e48b9c5e443465eef397f7916f24ad7286ab56995b60",
+      "review/colors/fill_swatch.txt": "c7aa9cab3ba27ce8cf7cad7e3fd204addd3a02870de361a30b7e5079394e41dc",
+      "review/colors/view_2_visibility.png": "5bb03a741b6e3e14fc97abc96928fe42ed311073dfd2fa1a2279ae7c8b19b864",
+      "review/colors/view_1_visibility.png": "c86ba170190f668db3508c32ac1f2e5c9d38d662b169fc769a462ff4f1ccbb40",
+      "review/colors/visibility_and_fill.png": "e763be5ae281e78508eed1dd1b73b31b0429b92d4edd158101a6fac9a5bf227e",
+      "review/colors/view_0_visibility.png": "cf0a354dca156be04ea2d3a858a4b0981c89e386930276e4ab04e0926475009e",
+      "review/colors/fill_swatch.png": "f3ad5cc69ad999309fa19461c7feeb7b9ae8f35d4aef92cd0af342f2407ff7f2",
+      "review/colors/view_3_visibility.png": "6877c7d1630cddb82dc3eec478bfd2b1d14f48624766b28ea9b875651ada18c1",
+      "rerun/appearance_spline_prior.rrd": "d990e1413591da9b68675a368f7f05bbbeb4c17fa864a1ff6662e5f0ed0afd17"
+    }
+  },
+  "code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 10.671937227249146
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/tube.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/tube.json
new file mode 100644
index 0000000000000000000000000000000000000000..e469c59a4e940de93690c2c5444604527d315d1c
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/steps/tube.json
@@ -0,0 +1,63 @@
+{
+  "status": "ok",
+  "settings": {
+    "radius_m": 0.00475,
+    "step_t": 0.125,
+    "step_angle_deg": 30
+  },
+  "outputs": {
+    "checks": {
+      "euler_characteristic": 0,
+      "watertight": true,
+      "components": 1,
+      "winding_consistent": true,
+      "signed_volume_m3": 3.956278791192756e-05,
+      "minimum_outward_normal_dot_m": 0.00455353984958401,
+      "degenerate_triangles": 0,
+      "self_intersecting": false,
+      "maximum_radius_error_m": 7.689644228661696e-09,
+      "maximum_diameter_error_m": 1.5348802845024934e-08,
+      "bishop_seam_error": 5.960464477539063e-08,
+      "minimum_nonadjacent_centerline_distance_m": 0.004108392938893334,
+      "triangle_area_m2": {
+        "min": 2.152043776562718e-06,
+        "median": 5.102835213310572e-06,
+        "mean": 4.992817718519569e-06,
+        "max": 7.559738818039819e-06,
+        "density_max_over_min": 3.512818326639417
+      },
+      "bounds_m": [
+        [
+          -0.04117804020643234,
+          -0.1839023381471634,
+          -0.0014119537081569433
+        ],
+        [
+          0.14597740769386292,
+          -0.013479825109243393,
+          0.022065378725528717
+        ]
+      ],
+      "radius_m": 0.00475,
+      "step_t": 0.125,
+      "step_angle_deg": 30,
+      "overlap_rule": "surface_intersection",
+      "open3d_reported_intersecting_pairs": 0,
+      "confirmed_intersecting_pairs": [],
+      "passed": true,
+      "orientation_flipped": true
+    },
+    "vertex_count": 1728,
+    "triangle_count": 3456,
+    "files": {
+      "tube/tube_checks.json": "b571c217a17fc64f28ca4833de161dc0dce12f455e1ceba2aabbef346a0fd4e7",
+      "tube/triangle_areas.npz": "30ca61cdd6d683db8adfac2abb8bc0d5654ebf7ffd668eaae8b2e97885acadd3",
+      "tube/geometry.npz": "634527fe727bf5477f3a893c503402242ecf8d9ba97d6a289cc819ff630acdc0"
+    }
+  },
+  "code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 3.3168327808380127
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/tube/geometry.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/tube/geometry.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a96acd9c6885ff763abe9324c7983f411ea8b10d
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/tube/geometry.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634527fe727bf5477f3a893c503402242ecf8d9ba97d6a289cc819ff630acdc0
+size 170348
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/tube/triangle_areas.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/tube/triangle_areas.npz
new file mode 100644
index 0000000000000000000000000000000000000000..599451fe8d5524984c809ff55512ea0df82518ff
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/tube/triangle_areas.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30ca61cdd6d683db8adfac2abb8bc0d5654ebf7ffd668eaae8b2e97885acadd3
+size 27916
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/tube/tube.ply b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/tube/tube.ply
new file mode 100644
index 0000000000000000000000000000000000000000..46a46c96b78cccf2a26e91d0f3ae3013f692d5ac
Binary files /dev/null and b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/tube/tube.ply differ