sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1: payload batch 4/4

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/mech_center_ribbon_argv.json

@@ -0,0 +1,14 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/mech_center_ribbon_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 292.95618014599313
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision.log

@@ -0,0 +1,46 @@
+{
+ "populations": {
+  "P_chamfer_targets": 3026,
+  "genuine_t_pairs": 1184,
+  "N": 1184,
+  "S": 1395,
+  "A": 1395,
+  "added_surface": 211,
+  "interior": 0,
+  "controls": 30,
+  "controls_by_hand": {
+   "hand_A": 17,
+   "hand_B": 13
+  }
+ },
+ "initialization_groups": {
+  "initialized_original": 1184,
+  "in_band_not_initialized": 1673,
+  "outside_initial_band": 169
+ },
+ "denominators": {
+  "D_C": 2959,
+  "D_T": 1093,
+  "rule": "RT-S2, fixed for the whole run; C/T weights unchanged"
+ },
+ "graph": {
+  "object_springs": 23222,
+  "controller_springs": 731,
+  "object_rest_min_max_m": [
+   0.00018351788457948714,
+   0.01956235244870186
+  ],
+  "controller_rest_min_max_m": [
+   0.008662679232656956,
+   0.039985623210668564
+  ],
+  "isolated_object_nodes": 0,
+  "attached_object_nodes": 179,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 469,
+   "hand_B": 262
+  }
+ },
+ "passed": true
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json

@@ -0,0 +1,14 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 117.3853526210005
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/mech_ribbon_argv.json

@@ -0,0 +1,36 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232717_273624",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "f689ceecf96d013b7f3e7ba6e03aa08b006339797651f415ece332dd7eaaef61",
+    "--accepted-prior-manifest-sha256",
+    "f57732aa08b630c0b66f8c9622a657207df2ff2654ea4ad64fdbb6c3c69f60a0",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/mech_ribbon_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 95.17977191699902
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json

@@ -0,0 +1,40 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232717_273624",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "f689ceecf96d013b7f3e7ba6e03aa08b006339797651f415ece332dd7eaaef61",
+    "--accepted-prior-manifest-sha256",
+    "f57732aa08b630c0b66f8c9622a657207df2ff2654ea4ad64fdbb6c3c69f60a0",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1/mesh/binding.json",
+    "--premesh-fitting",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/rt3_lifts/fitting",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 460.22096508700633
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md

@@ -0,0 +1,58 @@
+# session_20260921_232717_273624 — prior approval pending
+
+Saved C2 **grey_timing_belt** prior evidence (width 25.00 mm, zero-thickness surface). **Agent visual and numerical review is complete; owner initial-prior approval remains pending.** The initial ribbon is ready for owner review with the geometry and measurement limitations below. This packet records no acceptance or physical-fit readiness.
+
+Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](<prior_metrics.json>).
+
+| Camera | Local / converted / native | Centerline / geometry / native input |
+|---|---|---|
+| 12540311 | 0 / 340 / 341 | [centerline](<../prior_timing_v1/review/spline/centerline_0_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 0 / 339 / 340 | [centerline](<../prior_timing_v1/review/spline/centerline_1_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_1_12933256.png>) |
+| 17736741 | 0 / 340 / 341 | [centerline](<../prior_timing_v1/review/spline/centerline_2_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_2_17736741.png>) |
+| 23007103 | 0 / 339 / 340 | [centerline](<../prior_timing_v1/review/spline/centerline_3_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_timing_v1/review/ribbon/orbit.mp4>) · [Geometry and depth cloud](<../prior_timing_v1/review/ribbon/ribbon_scale_views.png>) · [Residual histograms](<../prior_timing_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_timing_v1/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **665.968 mm**, maximum curvature **12.505/m**, final gradient norm **3.37604e-09**. Soft length bounds are 664.000–666.000 mm; distance outside those bounds is 0.000 mm.
+
+The timing prior has a separate stage 2 with the centerline frozen: **12 twist iterations**, saved success `True`, stop `CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH`. [Twist and width directions](<../prior_timing_v1/review/ribbon/twist_and_width_direction.png>).
+
+Saved geometry checks report `passed=True`: **450 mesh vertices / 720 triangles**, 1 component(s), `watertight=False`, `self_intersecting=False`. [Full geometry checks](<../prior_timing_v1/ribbon/ribbon_checks.json>).
+
+The following 3D residuals are lifted-depth point distances to the **ribbon surface**, not measured reconstruction errors. The fraction of visible projected ribbon surface samples inside the mask is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision.
+
+| Camera | Median / p90 3D residual (mm) | Visible ribbon surface inside mask | Native depth and visibility evidence |
+|---|---|---|---|
+| 12540311 | 3.027 / 7.423 | 91.99% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) |
+| 12933256 | 1.387 / 4.050 | 93.91% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) |
+| 17736741 | 2.004 / 4.300 | 93.23% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) |
+| 23007103 | 6.439 / 11.023 | 96.36% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) |
+
+The saved statistical filter used 20 neighbours / 2 sigma and kept **34798 of 35939** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **34798 observed + 21600 mesh-derived = 56398 seeds**. Vertex colors are observed for 405 mesh vertices and median-filled for 45. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages.
+
+[Appearance seed populations](<../prior_timing_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_timing_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>)
+
+[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>)
+
+[Manifest](<../prior_timing_v1/manifest.json>) · [Fit settings and metrics](<../prior_timing_v1/steps/fit.json>) · [Reference observations](<../prior_timing_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+**Agent findings.** All **22** initial-input, centerline, ribbon-silhouette, spatial/depth, residual, color, hybrid and twist images were inspected, together with orbit frames **0, 4, 8, 13, 17, 21, 26, 30 and 35 of 36**. These were direct selected-frame reads, with no full-decode or continuous-playback claim. [Exact findings and coverage](<agent_findings.json>).
+
+The upright band follows the visible contour and width across all four cameras. Camera **12933256** has a long foreground hand/forearm occlusion across the near half of the loop; other views have smaller grip-covered regions. Small local edge differences remain, particularly on the left/lower-left contour in 12540311 and near grips. The twist plot and sampled orbit show continuous width-direction changes without a gross width flip, collapse or crossing. Dense sampled twist spans **−0.059882 to 0.194798 rad**, with mean absolute width-direction z **0.991445**. The orbit displays sampled vertices; mesh checks establish the reported topology.
+
+**The open geometry is intentional:** **450 vertices / 720 triangles**, one consistently wound annulus, two **90-edge width boundaries**, no self-intersections or degenerate triangles, and watertight=False. The approved representation has **25 mm width and zero thickness**, with no interior particles or tooth geometry. Hand-hidden segments and **45 median-filled vertex colors** are inferred; colors are observed for **405 vertices**.
+
+**The two fit stages remain distinct.** Stage 1 used the approved centerline mask approximation and retained its single last round, stopping at gradient tolerance with norm **2.927650e-4**. Stage 2 froze those centerline control points exactly and refined nine twist knots using Q12 surface distance, the weight-4 two-sided surface term and the twist-rate penalty. It retained the last iterate after **12 iterations / 32 evaluations**, with success=True, stop CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH, and **zero bound knots**. The raw-knot bound is **±3.451392** (physical twist within **±0.8π**). Twist-rate p90/max is **2.810 / 3.098 rad/m**, below the soft 10/m threshold, and the saved twist penalty is zero. The final gradient above belongs to stage 2. The stages use different mask objectives, so their total losses are not directly comparable; solver success does not establish global optimality or material torsional stiffness.
+
+Length is **665.967882 mm**, within the **664–666 mm** soft bounds but only **0.032127 mm below the upper bound**; the saved within-1-mm flag is **true**. Maximum curvature is **12.505/m**, with **48%** of samples above the soft 10/m threshold. Minimum ribbon z is **−3.394 mm**, and maximum z is **23.237 mm**, relative to nominal table z=0. Belt-interior-minus-local-table medians are **14.481 / 10.504 / 8.790 / 14.762 mm** by camera order. The spatial and hybrid plots retain lateral contour bands, grip gaps and depth spread beyond the fitted width. No depth correction was applied; table contact remains uncertain.
+
+**Residual and coverage interpretation:** visible projected **ribbon-surface samples** inside the mask are **91.99 / 93.91 / 93.23 / 96.36%**, not centerline coverage or silhouette IoU. The saved residual-histogram image inherits the axis label “centerline residual”; its actual values are **ribbon-surface distances**, verified against the stored arrays and final report. Camera **23007103** has the largest median/p90 surface residuals, **6.439 / 11.023 mm**, and **17.17%** of its retained points exceed 10 mm. Thus a close image-plane overlay does not establish accurate depth. The image and scientific payload were preserved.
+
+The [completed temporal-reference review](<../review_v1/REVIEW.md>) retains grip occlusions and supported-arc gaps, uneven coverage, nearby contour bands and depth offsets. Its current-input controller gate contains **30 valid controls, 20 hand_A / 10 hand_B**, with maximum initial distance **39.864 mm**. This initial-prior review does not alter those measurements or approve a physical fit.
+
+Owner initial-prior approval remains pending. No scientific payload, source settings, global case status or downstream approval was changed. The **56,398 appearance seeds** are separate from mechanical particles; no post-prior mechanical population, trained appearance or physical-fit result is assessed here.
+
+
+Owner decision, 2026-10-28: **initial prior approved** for surface-only mechanical inputs and static appearance training. Disclosed limitations remain. [Exact decision](../../../owner_prior_acceptance_c6a_v1.json).

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json

@@ -0,0 +1,548 @@
+{
+  "case": "session_20260921_232717_273624/window_anchor0340-0691",
+  "reviewed_at_utc": "2026-10-28T20:54:20.070548+00:00",
+  "review_kind": "bounded agent review of the completed C2 initial 25 mm timing-ribbon prior",
+  "readiness": "ready_for_owner_initial_prior_review_with_recorded_geometry_and_measurement_limitations",
+  "blocking_findings_for_initial_prior": [],
+  "owner_prior_approval": "pending; this record grants no owner acceptance or downstream authorization",
+  "scope": {
+    "goal": "Review the saved initial timing-belt shape under the approved Q1/Q7-Q12 two-stage ribbon recipe.",
+    "done_when": "Four input panels, four centerline overlays, eight ribbon overlays, six spatial/twist/diagnostic plots, nine orbit frames and saved numerical evidence are inspected and limitations recorded.",
+    "non_goals": [
+      "No prior or observation reruns, settings changes or filtering",
+      "No thickness or interior-particle construction",
+      "No trained appearance, mechanics fitting, owner acceptance or global case-status changes"
+    ],
+    "validation": "All eight prior stages and packaging succeeded. Actual visual coverage is 22 images and nine selected orbit frames. Saved centerline preservation, last-iterate identity and residual arrays were checked; report labels and links were checked."
+  },
+  "source_code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "stage_results": {
+    "inputs": {
+      "returncode": 0,
+      "wall_seconds": 32.66710352897644,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "diagnose_depth": {
+      "returncode": 0,
+      "wall_seconds": 1.5645349025726318,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "fit": {
+      "returncode": 0,
+      "wall_seconds": 54.87195301055908,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "ribbon": {
+      "returncode": 0,
+      "wall_seconds": 5.078464508056641,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "colors": {
+      "returncode": 0,
+      "wall_seconds": 2.598306894302368,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "hybrid": {
+      "returncode": 0,
+      "wall_seconds": 2.1980977058410645,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "review": {
+      "returncode": 0,
+      "wall_seconds": 18.016698360443115,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "manifest": {
+      "returncode": 0,
+      "wall_seconds": 1.3347759246826172,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    }
+  },
+  "completion": {
+    "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "phase": "prior",
+    "completed_utc": "2026-10-28T20:46:50.519984+00:00"
+  },
+  "image_path_base": "../prior_timing_v1/review",
+  "inspected_images": [
+    "inputs/view_0_12540311.png",
+    "inputs/view_1_12933256.png",
+    "inputs/view_2_17736741.png",
+    "inputs/view_3_23007103.png",
+    "spline/centerline_0_with_masks.png",
+    "spline/centerline_1_with_masks.png",
+    "spline/centerline_2_with_masks.png",
+    "spline/centerline_3_with_masks.png",
+    "ribbon/silhouette_0_with_masks.png",
+    "ribbon/silhouette_1_with_masks.png",
+    "ribbon/silhouette_2_with_masks.png",
+    "ribbon/silhouette_3_with_masks.png",
+    "ribbon/silhouette_0_unmasked.png",
+    "ribbon/silhouette_1_unmasked.png",
+    "ribbon/silhouette_2_unmasked.png",
+    "ribbon/silhouette_3_unmasked.png",
+    "ribbon/ribbon_scale_views.png",
+    "spline/residual_histograms.png",
+    "inputs/depth_offset.png",
+    "colors/visibility_and_fill.png",
+    "hybrid/combined.png",
+    "ribbon/twist_and_width_direction.png"
+  ],
+  "inspected_videos": {
+    "../prior_timing_v1/review/ribbon/orbit.mp4": {
+      "reported_frame_count": 36,
+      "fps": 12.0,
+      "duration_s": 3.0,
+      "visually_inspected_frame_indices": [
+        0,
+        4,
+        8,
+        13,
+        17,
+        21,
+        26,
+        30,
+        35
+      ],
+      "visual_method": "Nine directly selected frames inspected individually; no full-decode or continuous-playback claim. The orbit shows sampled ribbon vertices."
+    }
+  },
+  "inspected_data": [
+    "prior_metrics.json",
+    "../prior_timing_v1/manifest.json",
+    "../prior_timing_v1/steps/fit.json",
+    "../prior_timing_v1/ribbon/ribbon_checks.json",
+    "../prior_timing_v1/spline/reprojection.json",
+    "../prior_timing_v1/inputs/depth_offset_diagnostic.json",
+    "../prior_timing_v1/inputs/reference_views.json",
+    "../prior_timing_v1/steps/colors.json",
+    "../prior_timing_v1/steps/hybrid.json",
+    "../prior_timing_v1/spline/spline_stage1.json",
+    "../prior_timing_v1/spline/spline_fit.json",
+    "../prior_timing_v1/spline/rounds.jsonl",
+    "../prior_timing_v1/spline/twist_trajectory.jsonl",
+    "../prior_timing_v1/spline/residuals.npz",
+    "../review_v1/agent_findings.json"
+  ],
+  "saved_metrics": {
+    "representation": {
+      "name": "grey_timing_belt",
+      "representation": "ribbon",
+      "fitter_source": "spline_estimation.timing_belt_fitting (scratch/test_timing_belt_perception.py)",
+      "dimension_source": "demonstrated 25 mm width; surface only, no interior (corpus Q1, 2026-10-25)",
+      "radius_m": null,
+      "ribbon_width_m": 0.025,
+      "step_t": 0.1,
+      "step_angle_deg": null,
+      "u_resolution": 5,
+      "overlap_rule": null,
+      "twist_penalty": {
+        "samples": 250,
+        "threshold_per_m": 10.0,
+        "huber_per_m": 30.0,
+        "cap_per_m": 80.0,
+        "weight": 5e-08
+      }
+    },
+    "stage1": {
+      "rounds": 1,
+      "stop": "gradient_tolerance",
+      "last_round": {
+        "loss": 6.06943758612033e-05,
+        "components": {
+          "distance": 9.105581739277113e-06,
+          "curvature": 1.860397524922064e-08,
+          "arclength": 0.0,
+          "mask_reprojection_2d": 5.157019040780142e-05
+        },
+        "grad_norm": 0.0002927650057245046,
+        "arclength_m": 0.6659678816795349,
+        "arclength_bound_active_within_1mm": true,
+        "max_curvature_per_m": 12.505267143249512,
+        "curvature_p50_p90_per_m": [
+          9.910741329193115,
+          11.681507301330566
+        ],
+        "curvature_above_max_fraction": 0.48,
+        "mean_distance_m": 0.00361204866226487,
+        "max_distance_m": 0.016755281016230583,
+        "beyond_2delta_fraction": 0.05043393298465429,
+        "at_cap_fraction": 0.0,
+        "per_view": [
+          {
+            "view": 0,
+            "count": 9019,
+            "median_m": 0.0033136627171188593,
+            "p90_m": 0.006408627238124609,
+            "max_m": 0.013798726722598076,
+            "beyond_2delta_fraction": 0.010089810400266104,
+            "at_cap_fraction": 0.0
+          },
+          {
+            "view": 1,
+            "count": 7356,
+            "median_m": 0.001229407440405339,
+            "p90_m": 0.003753928351216018,
+            "max_m": 0.00880866777151823,
+            "beyond_2delta_fraction": 0.0,
+            "at_cap_fraction": 0.0
+          },
+          {
+            "view": 2,
+            "count": 9566,
+            "median_m": 0.002164886915124953,
+            "p90_m": 0.004500216338783503,
+            "max_m": 0.010366943664848804,
+            "beyond_2delta_fraction": 0.0006272214091574326,
+            "at_cap_fraction": 0.0
+          },
+          {
+            "view": 3,
+            "count": 8857,
+            "median_m": 0.006566233467310667,
+            "p90_m": 0.011471641436219215,
+            "max_m": 0.016755281016230583,
+            "beyond_2delta_fraction": 0.18719656768657558,
+            "at_cap_fraction": 0.0
+          }
+        ],
+        "ribbon": {
+          "width_m": 0.02500000037252903,
+          "twist_rate_p90_max_per_m": [
+            0.00019693206850206478,
+            0.00022978645574767143
+          ],
+          "theta_at_knots_rad": [
+            4.39431460108608e-06,
+            -9.903492355078924e-06,
+            -5.011209509575565e-07,
+            1.320385854342021e-05,
+            1.6297095498885028e-05,
+            1.3933780792285688e-05,
+            1.3907823813497089e-05,
+            9.036828487296589e-06,
+            1.3245073205325752e-05
+          ],
+          "theta_min_max_rad": [
+            -1.0065547030535527e-05,
+            1.6466041415696964e-05
+          ],
+          "width_direction_abs_z_mean": 0.9988270987558798,
+          "closest_u_abs_mean": 0.4937556559456869,
+          "closest_u_at_width_edge_fraction": 0.11960457497557331
+        },
+        "round": 1,
+        "relative_loss_change": 0.9859834453805709
+      }
+    },
+    "stage2": {
+      "settings": {
+        "stage": "2 of 2; centerline control points frozen at stage 1, nine raw twist knots free",
+        "start": "stage-1 knots reduced modulo pi to bounded twist in (-pi/2, pi/2]",
+        "loss": "3D ribbon distance + weight x two-sided surface mask term + twist penalty",
+        "twist_penalty": {
+          "samples": 250,
+          "threshold_per_m": 10.0,
+          "huber_per_m": 30.0,
+          "cap_per_m": 80.0,
+          "weight": 5e-08
+        },
+        "solver": "SciPy L-BFGS-B, knots within +-pi*atanh(0.8) (twist within +-0.8 pi); objective / start value; ftol 1e-7 (the stage-1 relative rule), gtol 1e-12, maxls 20, maxiter = rounds x 25"
+      },
+      "start_raw_theta": [
+        6.431972906293486e-06,
+        -1.632117891851277e-05,
+        -5.682085770786277e-07,
+        1.5587287634749825e-05,
+        1.7442209355024632e-05,
+        1.242644793826117e-05,
+        1.6454678188821435e-05,
+        5.20177945873477e-06,
+        1.6959173080919746e-05
+      ],
+      "start_loss": 1.1430552149249706e-05,
+      "bound_raw": 3.451392295223203,
+      "knots_at_bound": 0,
+      "iterations": 12,
+      "evaluations": 32,
+      "stop": "CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH",
+      "success": true,
+      "final_gradient_norm": 3.3760412243566407e-09,
+      "final_loss": 1.09262282421696e-05,
+      "final_raw_theta": [
+        0.09217562548540317,
+        0.2786951581587835,
+        -0.080356634740689,
+        0.01580890912566483,
+        0.2728998971241382,
+        0.02640458322132521,
+        -0.08258852307592453,
+        -0.03531005281445597,
+        -0.025332106134316475
+      ],
+      "final_ribbon_metrics": {
+        "width_m": 0.02500000037252903,
+        "twist_rate_p90_max_per_m": [
+          2.810046362876892,
+          3.0983033180236816
+        ],
+        "theta_at_knots_rad": [
+          0.10363996773958206,
+          0.18754331767559052,
+          -0.00448707165196538,
+          0.04262719675898552,
+          0.1887412667274475,
+          0.04931756854057312,
+          -0.056537143886089325,
+          -0.041524384170770645,
+          -0.00741046154871583
+        ],
+        "theta_min_max_rad": [
+          -0.059882164001464844,
+          0.1947977989912033
+        ],
+        "width_direction_abs_z_mean": 0.9914451278530787,
+        "closest_u_abs_mean": 0.4961402958028926,
+        "closest_u_at_width_edge_fraction": 0.12066785447439508
+      }
+    },
+    "stage_comparison_note": "Stage 1 uses the approved centerline mask approximation; stage 2 uses the two-sided surface term plus twist penalty. Their total losses are not the same objective.",
+    "length_mm": 665.9678816795349,
+    "soft_length_bounds_mm": [
+      663.9999747276306,
+      666.0000085830688
+    ],
+    "distance_below_upper_length_bound_mm": 0.03212690353393555,
+    "arclength_bound_active_within_1mm": true,
+    "max_curvature_per_m": 12.505267143249512,
+    "fraction_above_soft_10_per_m_curvature_threshold": 0.48,
+    "statistical_filter": {
+      "method": "Open3D.remove_statistical_outlier",
+      "nb_neighbors": 20,
+      "std_ratio": 2.0,
+      "input_count": 35939,
+      "kept_count": 34798,
+      "removed_count": 1141,
+      "per_view": [
+        {
+          "view": 0,
+          "input": 9223,
+          "kept": 9019,
+          "removed": 204,
+          "live_20_0.05_kept": 5122,
+          "no_filter_kept": 9223
+        },
+        {
+          "view": 1,
+          "input": 7516,
+          "kept": 7356,
+          "removed": 160,
+          "live_20_0.05_kept": 6203,
+          "no_filter_kept": 7516
+        },
+        {
+          "view": 2,
+          "input": 10137,
+          "kept": 9566,
+          "removed": 571,
+          "live_20_0.05_kept": 6831,
+          "no_filter_kept": 10137
+        },
+        {
+          "view": 3,
+          "input": 9063,
+          "kept": 8857,
+          "removed": 206,
+          "live_20_0.05_kept": 2828,
+          "no_filter_kept": 9063
+        }
+      ]
+    },
+    "ribbon_vertices": 450,
+    "ribbon_triangles": 720,
+    "saved_geometry_checks": {
+      "representation": "zero-thickness intrinsic ribbon surface (open width edges)",
+      "euler_characteristic": 0,
+      "watertight": false,
+      "components": 1,
+      "winding_consistent": true,
+      "boundary_loop_edges": [
+        90,
+        90
+      ],
+      "degenerate_triangles": 0,
+      "open3d_reported_intersecting_pairs": 0,
+      "confirmed_intersecting_pairs": [],
+      "self_intersecting": false,
+      "maximum_width_error_m": 3.354810346190007e-09,
+      "maximum_midline_error_m": 4.656612873077393e-10,
+      "maximum_tangent_width_dot": 5.665867886250897e-07,
+      "seam_surface_error_m": 0.0,
+      "minimum_nonadjacent_centerline_distance_m": 0.012398939293862734,
+      "theta_min_max_rad": [
+        -0.05984014645218849,
+        0.19467806816101074
+      ],
+      "width_direction_abs_z_mean": 0.9914606514417531,
+      "triangle_area_m2": {
+        "min": 1.8897307974829245e-05,
+        "median": 2.4172296095615578e-05,
+        "mean": 2.3120593965644347e-05,
+        "max": 2.6239569981980024e-05,
+        "density_max_over_min": 1.3885348123092716
+      },
+      "bounds_m": [
+        [
+          -0.09196235984563828,
+          -0.2222164273262024,
+          -0.003393699647858739
+        ],
+        [
+          0.14095482230186462,
+          -0.02945077046751976,
+          0.023236604407429695
+        ]
+      ],
+      "width_m": 0.02500000037252903,
+      "step_t": 0.1,
+      "u_resolution": 5,
+      "passed": true
+    },
+    "minimum_ribbon_z_mm": -3.393699647858739,
+    "depth_belt_minus_local_table_mm_by_serial": {
+      "12540311": 14.480599054810694,
+      "12933256": 10.503919267462969,
+      "17736741": 8.789804082525887,
+      "23007103": 14.762454867563557
+    },
+    "depth_correction_applied": false,
+    "per_view": {
+      "12540311": {
+        "median_ribbon_surface_distance_mm": 3.026952501386404,
+        "p90_ribbon_surface_distance_mm": 7.423179503530264,
+        "visible_surface_inside_mask_fraction": 0.9198520345252774,
+        "selected_window_local_index": 0,
+        "converted_frame": 340,
+        "native_container_frame": 341,
+        "initial_grid_offset_ms": 0.0
+      },
+      "12933256": {
+        "median_ribbon_surface_distance_mm": 1.3874875730834901,
+        "p90_ribbon_surface_distance_mm": 4.049725364893675,
+        "visible_surface_inside_mask_fraction": 0.9390962671905697,
+        "selected_window_local_index": 0,
+        "converted_frame": 339,
+        "native_container_frame": 340,
+        "initial_grid_offset_ms": 14.060033
+      },
+      "17736741": {
+        "median_ribbon_surface_distance_mm": 2.0035719498991966,
+        "p90_ribbon_surface_distance_mm": 4.299723310396075,
+        "visible_surface_inside_mask_fraction": 0.9323170731707318,
+        "selected_window_local_index": 0,
+        "converted_frame": 340,
+        "native_container_frame": 341,
+        "initial_grid_offset_ms": 2.871386
+      },
+      "23007103": {
+        "median_ribbon_surface_distance_mm": 6.4391219057142735,
+        "p90_ribbon_surface_distance_mm": 11.022781208157543,
+        "visible_surface_inside_mask_fraction": 0.9635549872122762,
+        "selected_window_local_index": 0,
+        "converted_frame": 339,
+        "native_container_frame": 340,
+        "initial_grid_offset_ms": 9.661457
+      }
+    },
+    "appearance_seeds": {
+      "observed": 34798,
+      "mesh": 21600,
+      "total": 56398,
+      "mesh_to_observed": 0.6207253290418989
+    },
+    "vertex_colors": {
+      "observed_vertices": 405,
+      "filled_vertices": 45
+    },
+    "mechanical_population": {
+      "particle_count": null,
+      "total_unit_mass": null,
+      "status": "not produced by the prior run; no post-prior mechanics are evaluated here"
+    }
+  },
+  "saved_array_checks": {
+    "stage1_final_centerline_controls_equal": true,
+    "control_shape": [
+      9,
+      4
+    ],
+    "all_controls_finite": true,
+    "stage1_last_round_matches_record": true,
+    "final_raw_theta_matches_last_trajectory": true,
+    "serialized_float32_raw_theta_matches_final": true,
+    "last_twist_iteration": 12,
+    "last_twist_loss": 1.0926227332674898e-05,
+    "reported_final_loss": 1.09262282421696e-05,
+    "last_trajectory_minus_reported_loss": -9.094947017729282e-13,
+    "trajectory_loss_note": "Same raw knots retained; JIT/non-JIT evaluation differs at float32 rounding scale.",
+    "all_residuals_finite": true,
+    "surface_residual_count": 34798,
+    "saved_surface_residual_mean_m": 0.003560476695579635,
+    "per_view_recomputed": {
+      "0": {
+        "n": 9019,
+        "median_m": 0.003026952501386404,
+        "p90_m": 0.007423179503530264,
+        "max_m": 0.013904224149882793
+      },
+      "1": {
+        "n": 7356,
+        "median_m": 0.0013874875730834901,
+        "p90_m": 0.004049725364893675,
+        "max_m": 0.008962325751781464
+      },
+      "2": {
+        "n": 9566,
+        "median_m": 0.0020035719498991966,
+        "p90_m": 0.004299723310396075,
+        "max_m": 0.010873044840991497
+      },
+      "3": {
+        "n": 8857,
+        "median_m": 0.0064391219057142735,
+        "p90_m": 0.011022781208157542,
+        "max_m": 0.015626689419150352
+      }
+    },
+    "stage2_same_objective_fraction_reduction": 0.04412069517684758,
+    "distance_below_upper_soft_length_bound_mm": 0.03212690353393555
+  },
+  "reporting_corrections": [
+    "The saved residual_histograms.png x-axis inherits the label centerline residual. Its actual values are ribbon-surface distances, as confirmed by stored array summaries matching the final ribbon fit report. The scientific image and source were preserved; this packet supplies the correct interpretation."
+  ],
+  "observations": [
+    "The initial grey timing belt is an upright band with two opposing hand contacts. Its visible contour and width are coherent across all four native views. Camera 12933256 has a long foreground hand/forearm occlusion across the near half of the loop; the other views have smaller grip-covered regions.",
+    "The four centerline overlays remain near the visible band, and the final ribbon silhouettes follow its visible width closely. Small local edge differences remain, especially along the left and lower-left contour in 12540311 and near grips. No gross width flip, wrong-loop displacement, collapse or self-crossing was seen.",
+    "The twist/width-direction plot and nine orbit frames show a smooth upright band with modest continuous tilt. The dense sampled twist range is -0.059882 to 0.194798 rad and mean absolute width-direction z is 0.991445. The orbit renders sampled vertices rather than a shaded continuous surface; topology claims come from the saved mesh checks.",
+    "The depth-cloud and hybrid plots retain nearby lateral contour bands, gaps near the grips and points extending above and below the fitted width. Camera 23007103 has the largest median/p90 surface residuals, 6.439/11.023 mm, with 17.17 percent of its retained points beyond 10 mm. The close image-plane overlay is therefore not evidence of accurate depth.",
+    "Vertex colors are observed for 405 of 450 vertices and median-filled for 45, mainly at width edges and near grips. The hybrid seed population is 34,798 observed plus 21,600 mesh-derived points, totaling 56,398; these are appearance initialization counts."
+  ],
+  "limitations": [
+    "The approved 25 mm zero-thickness ribbon is an open annulus with two intentional width boundaries. Material thickness, teeth and interior particles are not represented; hand-hidden segments remain inferred. Fitted geometric twist does not identify material torsional stiffness.",
+    "Minimum ribbon z is -3.393700 mm relative to nominal table z=0; maximum z is 23.236604 mm. Belt-interior-minus-local-table median heights are 14.481, 10.504, 8.790 and 14.762 mm by camera order. Depth spread and nominal-plane placement remain uncertain; no correction was applied.",
+    "Length is 665.967882 mm within the 664-666 mm soft bounds, only 0.032127 mm below the upper bound; the saved within-1-mm flag is true. Maximum curvature is 12.505267/m and 48 percent of samples exceed the soft 10/m threshold. These are soft-loss diagnostics, not hard failure tests.",
+    "Stage 1 retained its single last round, stopping at gradient tolerance with norm 2.927650e-4. Stage 2 retained the last iterate after 12 iterations/32 evaluations, success true with relative-function-reduction stop and zero bound knots. Solver success and final gradient do not establish global optimality or physical identification.",
+    "Visible projected ribbon-surface samples inside the mask are 91.99, 93.91, 93.23 and 96.36 percent by camera order. These are neither centerline coverage nor silhouette IoU. Ribbon-surface residuals, mask coverage and ground-truth reconstruction accuracy are separate concepts.",
+    "This bounded initial-prior review inspected 22 images and nine selected frames out of 36. The completed temporal-reference review is linked rather than repeated; its grip occlusions, supported-arc gaps, unequal coverage and depth offsets remain relevant. No downstream physical-fit readiness is inferred.",
+    "Mesh vertices and appearance seeds are distinct from mechanical particles. The prior supplies no post-prior mechanical particle count or unit-mass total, no trained appearance and no physical-fit result."
+  ],
+  "temporal_reference_review": {
+    "path": "../review_v1/agent_findings.json",
+    "readiness": "ready_for_current_c2_prior_with_recorded_measurement_limitations",
+    "blocking_findings": [],
+    "retained_limits": "Grip occlusions and supported-arc gaps, uneven contour coverage, multiple nearby 3D contour bands and native/WAFT depth disagreement, including the persistent negative median offset in 17736741."
+  }
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json

@@ -0,0 +1,658 @@
+{
+  "session_id": "session_20260921_232717_273624",
+  "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1",
+  "owner_prior_approval": "pending",
+  "visual_quality_assessment": "not performed by this packager",
+  "object": {
+    "name": "grey_timing_belt",
+    "representation": "ribbon",
+    "fitter_source": "spline_estimation.timing_belt_fitting (scratch/test_timing_belt_perception.py)",
+    "dimension_source": "demonstrated 25 mm width; surface only, no interior (corpus Q1, 2026-10-25)",
+    "radius_m": null,
+    "ribbon_width_m": 0.025,
+    "step_t": 0.1,
+    "step_angle_deg": null,
+    "u_resolution": 5,
+    "overlap_rule": null,
+    "twist_penalty": {
+      "samples": 250,
+      "threshold_per_m": 10.0,
+      "huber_per_m": 30.0,
+      "cap_per_m": 80.0,
+      "weight": 5e-08
+    }
+  },
+  "initial_grid_sample": 0,
+  "views": [
+    {
+      "serial": "12540311",
+      "view_index": 0,
+      "selected_window_local_index": 0,
+      "converted_frame": 340,
+      "native_container_frame": 341,
+      "official_frame": 340,
+      "depth_frame": 340,
+      "capture_timestamp_ns": 1790047671937380044,
+      "device_timestamp_ns": 1790047671892825942,
+      "initial_grid_offset_ms": 0.0,
+      "native_count": 352,
+      "initial_observed_depth_points": 9019,
+      "median_3d_residual_m": 0.003026952501386404,
+      "p90_3d_residual_m": 0.007423179503530264,
+      "visible_surface_inside_mask_fraction": 0.9198520345252774,
+      "track_diagnostics": {
+        "T": 352,
+        "queries": 5000,
+        "keyframes": [
+          0,
+          43,
+          87,
+          131,
+          175,
+          219,
+          263,
+          297,
+          302,
+          307,
+          351
+        ],
+        "source_seed_counts": {
+          "object": 1027,
+          "hand_A": 2370,
+          "hand_B": 1603
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.9134,
+          0.9481784090909091,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          581,
+          734
+        ],
+        "paired_common_min_max": [
+          4182,
+          4657
+        ]
+      },
+      "links": {
+        "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/spline/centerline_0_with_masks.png",
+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_0_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_0_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/inputs/view_0_12540311.png",
+        "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/12540311/rgb_waft_depth_full_window.mp4",
+        "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/12540311/12540311_visibility_certainty.png",
+        "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/12540311/support_and_rejections.png",
+        "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/12540311/paired_depth.png"
+      }
+    },
+    {
+      "serial": "12933256",
+      "view_index": 1,
+      "selected_window_local_index": 0,
+      "converted_frame": 339,
+      "native_container_frame": 340,
+      "official_frame": 339,
+      "depth_frame": 339,
+      "capture_timestamp_ns": 1790047671923320011,
+      "device_timestamp_ns": 1790047671881989844,
+      "initial_grid_offset_ms": 14.060033,
+      "native_count": 352,
+      "initial_observed_depth_points": 7356,
+      "median_3d_residual_m": 0.0013874875730834901,
+      "p90_3d_residual_m": 0.004049725364893675,
+      "visible_surface_inside_mask_fraction": 0.9390962671905697,
+      "track_diagnostics": {
+        "T": 352,
+        "queries": 5000,
+        "keyframes": [
+          0,
+          43,
+          50,
+          87,
+          131,
+          175,
+          219,
+          263,
+          307,
+          351
+        ],
+        "source_seed_counts": {
+          "object": 857,
+          "hand_A": 1769,
+          "hand_B": 2374
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.8064,
+          0.9072136363636364,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          485,
+          685
+        ],
+        "paired_common_min_max": [
+          3890,
+          4752
+        ]
+      },
+      "links": {
+        "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/spline/centerline_1_with_masks.png",
+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_1_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_1_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/inputs/view_1_12933256.png",
+        "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/12933256/rgb_waft_depth_full_window.mp4",
+        "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/12933256/12933256_visibility_certainty.png",
+        "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/12933256/support_and_rejections.png",
+        "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/12933256/paired_depth.png"
+      }
+    },
+    {
+      "serial": "17736741",
+      "view_index": 2,
+      "selected_window_local_index": 0,
+      "converted_frame": 340,
+      "native_container_frame": 341,
+      "official_frame": 340,
+      "depth_frame": 340,
+      "capture_timestamp_ns": 1790047671934508658,
+      "device_timestamp_ns": 1790047671888873727,
+      "initial_grid_offset_ms": 2.871386,
+      "native_count": 352,
+      "initial_observed_depth_points": 9566,
+      "median_3d_residual_m": 0.0020035719498991966,
+      "p90_3d_residual_m": 0.004299723310396075,
+      "visible_surface_inside_mask_fraction": 0.9323170731707318,
+      "track_diagnostics": {
+        "T": 352,
+        "queries": 5000,
+        "keyframes": [
+          0,
+          43,
+          87,
+          131,
+          139,
+          155,
+          175,
+          219,
+          263,
+          307,
+          351
+        ],
+        "source_seed_counts": {
+          "object": 995,
+          "hand_A": 2251,
+          "hand_B": 1754
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.9044,
+          0.9634119318181819,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          528,
+          718
+        ],
+        "paired_common_min_max": [
+          3858,
+          4671
+        ]
+      },
+      "links": {
+        "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/spline/centerline_2_with_masks.png",
+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_2_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_2_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/inputs/view_2_17736741.png",
+        "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/17736741/rgb_waft_depth_full_window.mp4",
+        "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/17736741/17736741_visibility_certainty.png",
+        "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/17736741/support_and_rejections.png",
+        "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/17736741/paired_depth.png"
+      }
+    },
+    {
+      "serial": "23007103",
+      "view_index": 3,
+      "selected_window_local_index": 0,
+      "converted_frame": 339,
+      "native_container_frame": 340,
+      "official_frame": 339,
+      "depth_frame": 339,
+      "capture_timestamp_ns": 1790047671927718587,
+      "device_timestamp_ns": 1790047671886069059,
+      "initial_grid_offset_ms": 9.661457,
+      "native_count": 352,
+      "initial_observed_depth_points": 8857,
+      "median_3d_residual_m": 0.0064391219057142735,
+      "p90_3d_residual_m": 0.011022781208157542,
+      "visible_surface_inside_mask_fraction": 0.9635549872122762,
+      "track_diagnostics": {
+        "T": 352,
+        "queries": 5000,
+        "keyframes": [
+          0,
+          43,
+          87,
+          131,
+          175,
+          219,
+          228,
+          231,
+          263,
+          307,
+          351
+        ],
+        "source_seed_counts": {
+          "object": 1232,
+          "hand_A": 1333,
+          "hand_B": 2435
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.859,
+          0.9413,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          516,
+          951
+        ],
+        "paired_common_min_max": [
+          3785,
+          4590
+        ]
+      },
+      "links": {
+        "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/spline/centerline_3_with_masks.png",
+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_3_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_3_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/inputs/view_3_23007103.png",
+        "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/23007103/rgb_waft_depth_full_window.mp4",
+        "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/23007103/23007103_visibility_certainty.png",
+        "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/23007103/support_and_rejections.png",
+        "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/23007103/paired_depth.png"
+      }
+    }
+  ],
+  "recipe": {
+    "depth_source": "waft_stereo_dav2l5",
+    "mask_erosion_px": 2,
+    "filter": {
+      "method": "Open3D.remove_statistical_outlier",
+      "nb_neighbors": 20,
+      "std_ratio": 2.0,
+      "input_count": 35939,
+      "kept_count": 34798,
+      "removed_count": 1141,
+      "per_view": [
+        {
+          "view": 0,
+          "input": 9223,
+          "kept": 9019,
+          "removed": 204,
+          "live_20_0.05_kept": 5122,
+          "no_filter_kept": 9223
+        },
+        {
+          "view": 1,
+          "input": 7516,
+          "kept": 7356,
+          "removed": 160,
+          "live_20_0.05_kept": 6203,
+          "no_filter_kept": 7516
+        },
+        {
+          "view": 2,
+          "input": 10137,
+          "kept": 9566,
+          "removed": 571,
+          "live_20_0.05_kept": 6831,
+          "no_filter_kept": 10137
+        },
+        {
+          "view": 3,
+          "input": 9063,
+          "kept": 8857,
+          "removed": 206,
+          "live_20_0.05_kept": 2828,
+          "no_filter_kept": 9063
+        }
+      ]
+    },
+    "max_rounds": 400,
+    "reprojection": {
+      "weight": 4.0,
+      "direction": "visible mask pixels to projected centerline",
+      "ribbon_twist_stage": "two-sided (owner Q11): visible mask pixels to projected width segments plus visible projected surface samples (off the occlusion union) to the nearest mask pixel",
+      "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
+    },
+    "solver": {
+      "solver_type": "lbfgs",
+      "linesearch_type": "zoom",
+      "max_linesearch_steps": 10,
+      "grad_norm_tolerance": 0.0003,
+      "max_iter": 25
+    },
+    "ribbon_twist_refinement": {
+      "stage": "2 of 2; centerline control points frozen at stage 1, nine raw twist knots free",
+      "start": "stage-1 knots reduced modulo pi to bounded twist in (-pi/2, pi/2]",
+      "loss": "3D ribbon distance + weight x two-sided surface mask term + twist penalty",
+      "twist_penalty": {
+        "samples": 250,
+        "threshold_per_m": 10.0,
+        "huber_per_m": 30.0,
+        "cap_per_m": 80.0,
+        "weight": 5e-08
+      },
+      "solver": "SciPy L-BFGS-B, knots within +-pi*atanh(0.8) (twist within +-0.8 pi); objective / start value; ftol 1e-7 (the stage-1 relative rule), gtol 1e-12, maxls 20, maxiter = rounds x 25"
+    }
+  },
+  "fit": {
+    "stage1_rounds": 1,
+    "stage1_stop": "gradient_tolerance",
+    "stage1_final": {
+      "loss": 6.06943758612033e-05,
+      "components": {
+        "distance": 9.105581739277113e-06,
+        "curvature": 1.860397524922064e-08,
+        "arclength": 0.0,
+        "mask_reprojection_2d": 5.157019040780142e-05
+      },
+      "grad_norm": 0.0002927650057245046,
+      "arclength_m": 0.6659678816795349,
+      "arclength_bound_active_within_1mm": true,
+      "max_curvature_per_m": 12.505267143249512,
+      "curvature_p50_p90_per_m": [
+        9.910741329193115,
+        11.681507301330566
+      ],
+      "curvature_above_max_fraction": 0.48,
+      "mean_distance_m": 0.00361204866226487,
+      "max_distance_m": 0.016755281016230583,
+      "beyond_2delta_fraction": 0.05043393298465429,
+      "at_cap_fraction": 0.0,
+      "per_view": [
+        {
+          "view": 0,
+          "count": 9019,
+          "median_m": 0.0033136627171188593,
+          "p90_m": 0.006408627238124609,
+          "max_m": 0.013798726722598076,
+          "beyond_2delta_fraction": 0.010089810400266104,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 1,
+          "count": 7356,
+          "median_m": 0.001229407440405339,
+          "p90_m": 0.003753928351216018,
+          "max_m": 0.00880866777151823,
+          "beyond_2delta_fraction": 0.0,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 2,
+          "count": 9566,
+          "median_m": 0.002164886915124953,
+          "p90_m": 0.004500216338783503,
+          "max_m": 0.010366943664848804,
+          "beyond_2delta_fraction": 0.0006272214091574326,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 3,
+          "count": 8857,
+          "median_m": 0.006566233467310667,
+          "p90_m": 0.011471641436219215,
+          "max_m": 0.016755281016230583,
+          "beyond_2delta_fraction": 0.18719656768657558,
+          "at_cap_fraction": 0.0
+        }
+      ],
+      "ribbon": {
+        "width_m": 0.02500000037252903,
+        "twist_rate_p90_max_per_m": [
+          0.00019693206850206478,
+          0.00022978645574767143
+        ],
+        "theta_at_knots_rad": [
+          4.39431460108608e-06,
+          -9.903492355078924e-06,
+          -5.011209509575565e-07,
+          1.320385854342021e-05,
+          1.6297095498885028e-05,
+          1.3933780792285688e-05,
+          1.3907823813497089e-05,
+          9.036828487296589e-06,
+          1.3245073205325752e-05
+        ],
+        "theta_min_max_rad": [
+          -1.0065547030535527e-05,
+          1.6466041415696964e-05
+        ],
+        "width_direction_abs_z_mean": 0.9988270987558798,
+        "closest_u_abs_mean": 0.4937556559456869,
+        "closest_u_at_width_edge_fraction": 0.11960457497557331
+      },
+      "round": 1,
+      "relative_loss_change": 0.9859834453805709
+    },
+    "twist": {
+      "start_raw_theta": [
+        6.431972906293486e-06,
+        -1.632117891851277e-05,
+        -5.682085770786277e-07,
+        1.5587287634749825e-05,
+        1.7442209355024632e-05,
+        1.242644793826117e-05,
+        1.6454678188821435e-05,
+        5.20177945873477e-06,
+        1.6959173080919746e-05
+      ],
+      "start_loss": 1.1430552149249706e-05,
+      "bound_raw": 3.451392295223203,
+      "knots_at_bound": 0,
+      "iterations": 12,
+      "evaluations": 32,
+      "stop": "CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH",
+      "success": true
+    },
+    "final": {
+      "loss": 1.09262282421696e-05,
+      "components": {
+        "distance": 8.961117600847501e-06,
+        "curvature": 1.860397524922064e-08,
+        "arclength": 0.0,
+        "mask_reprojection_2d": 1.9465069271973334e-06,
+        "twist": 0.0
+      },
+      "grad_norm": 3.3760412243566407e-09,
+      "arclength_m": 0.6659678816795349,
+      "arclength_bound_active_within_1mm": true,
+      "max_curvature_per_m": 12.505267143249512,
+      "curvature_p50_p90_per_m": [
+        9.910741329193115,
+        11.681507301330566
+      ],
+      "curvature_above_max_fraction": 0.48,
+      "mean_distance_m": 0.003560476695579635,
+      "max_distance_m": 0.015626689419150352,
+      "beyond_2delta_fraction": 0.049629289039599976,
+      "at_cap_fraction": 0.0,
+      "per_view": [
+        {
+          "view": 0,
+          "count": 9019,
+          "median_m": 0.003026952501386404,
+          "p90_m": 0.007423179503530264,
+          "max_m": 0.013904224149882793,
+          "beyond_2delta_fraction": 0.02095576006209114,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 1,
+          "count": 7356,
+          "median_m": 0.0013874875730834901,
+          "p90_m": 0.004049725364893675,
+          "max_m": 0.008962325751781464,
+          "beyond_2delta_fraction": 0.0,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 2,
+          "count": 9566,
+          "median_m": 0.0020035719498991966,
+          "p90_m": 0.004299723310396075,
+          "max_m": 0.010873044840991497,
+          "beyond_2delta_fraction": 0.0017771273259460589,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 3,
+          "count": 8857,
+          "median_m": 0.0064391219057142735,
+          "p90_m": 0.011022781208157542,
+          "max_m": 0.015626689419150352,
+          "beyond_2delta_fraction": 0.17172857626735916,
+          "at_cap_fraction": 0.0
+        }
+      ],
+      "ribbon": {
+        "width_m": 0.02500000037252903,
+        "twist_rate_p90_max_per_m": [
+          2.810046362876892,
+          3.0983033180236816
+        ],
+        "theta_at_knots_rad": [
+          0.10363996773958206,
+          0.18754331767559052,
+          -0.00448707165196538,
+          0.04262719675898552,
+          0.1887412667274475,
+          0.04931756854057312,
+          -0.056537143886089325,
+          -0.041524384170770645,
+          -0.00741046154871583
+        ],
+        "theta_min_max_rad": [
+          -0.059882164001464844,
+          0.1947977989912033
+        ],
+        "width_direction_abs_z_mean": 0.9914451278530787,
+        "closest_u_abs_mean": 0.4961402958028926,
+        "closest_u_at_width_edge_fraction": 0.12066785447439508
+      },
+      "raw_theta": [
+        0.09217562548540317,
+        0.2786951581587835,
+        -0.080356634740689,
+        0.01580890912566483,
+        0.2728998971241382,
+        0.02640458322132521,
+        -0.08258852307592453,
+        -0.03531005281445597,
+        -0.025332106134316475
+      ]
+    },
+    "arclength_soft_bounds_m": [
+      0.6639999747276306,
+      0.6660000085830688
+    ],
+    "arclength_outside_soft_bounds_m": 0
+  },
+  "geometry": {
+    "vertex_count": 450,
+    "triangle_count": 720,
+    "checks": {
+      "representation": "zero-thickness intrinsic ribbon surface (open width edges)",
+      "euler_characteristic": 0,
+      "watertight": false,
+      "components": 1,
+      "winding_consistent": true,
+      "boundary_loop_edges": [
+        90,
+        90
+      ],
+      "degenerate_triangles": 0,
+      "open3d_reported_intersecting_pairs": 0,
+      "confirmed_intersecting_pairs": [],
+      "self_intersecting": false,
+      "maximum_width_error_m": 3.354810346190007e-09,
+      "maximum_midline_error_m": 4.656612873077393e-10,
+      "maximum_tangent_width_dot": 5.665867886250897e-07,
+      "seam_surface_error_m": 0.0,
+      "minimum_nonadjacent_centerline_distance_m": 0.012398939293862734,
+      "theta_min_max_rad": [
+        -0.05984014645218849,
+        0.19467806816101074
+      ],
+      "width_direction_abs_z_mean": 0.9914606514417531,
+      "triangle_area_m2": {
+        "min": 1.8897307974829245e-05,
+        "median": 2.4172296095615578e-05,
+        "mean": 2.3120593965644347e-05,
+        "max": 2.6239569981980024e-05,
+        "density_max_over_min": 1.3885348123092716
+      },
+      "bounds_m": [
+        [
+          -0.09196235984563828,
+          -0.2222164273262024,
+          -0.003393699647858739
+        ],
+        [
+          0.14095482230186462,
+          -0.02945077046751976,
+          0.023236604407429695
+        ]
+      ],
+      "width_m": 0.02500000037252903,
+      "step_t": 0.1,
+      "u_resolution": 5,
+      "passed": true
+    }
+  },
+  "appearance_seed_counts": {
+    "observed": 34798,
+    "mesh": 21600,
+    "total": 56398,
+    "mesh_to_observed": 0.6207253290418989
+  },
+  "vertex_colors": {
+    "observed_vertices": 405,
+    "filled_vertices": 45
+  },
+  "mechanical_population": {
+    "particle_count": null,
+    "total_unit_mass": null,
+    "status": "not produced by the prior run; no post-prior mechanics are evaluated here"
+  },
+  "source_code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "media": {
+    "full_rotation": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/orbit.mp4",
+    "geometry_depth_cloud": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/ribbon_scale_views.png",
+    "depth_offset_diagnostic": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/inputs/depth_offset.png",
+    "residual_histograms": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/spline/residual_histograms.png",
+    "color_visibility_fill": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/colors/visibility_and_fill.png",
+    "hybrid_seed_populations": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/hybrid/combined.png",
+    "derived_coverage": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/derived/derived_coverage.png",
+    "ribbon_twist": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/twist_and_width_direction.png",
+    "derived_30hz_movie": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/derived/derived_30hz_xyz.mp4"
+  },
+  "sources": {
+    "manifest": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/manifest.json",
+    "fit": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/steps/fit.json",
+    "geometry_checks": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/ribbon/ribbon_checks.json",
+    "reference_views": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/inputs/reference_views.json",
+    "reprojection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/prior_timing_v1/spline/reprojection.json",
+    "tracking_summary": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/review_v1/summary.json",
+    "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json"
+  }
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/query_tracks/lifted_12540311.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef2c4a889e400bef35f86f2870db5cab61942f70e377777c5efde39afd30bc6a
+size 99337424

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/query_tracks/lifted_12933256.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b26321a88df6c2831cf19f4d9dad230f59c3cb0fb71bd403097cfa5d01164616
+size 99337420

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/query_tracks/lifted_17736741.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc300666fb06a191bf9aed480f261013b82ee24c0f317c74fb33f9c7428eccb
+size 99337424

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/query_tracks/lifted_23007103.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e397c078c56d7417f7cbad86dce3326b4254044a5e11492b385b665df3d6fb7c
+size 99337424

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/query_tracks/track_report.json

@@ -0,0 +1,165 @@
+{
+  "inputs": {
+    "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/per_camera_inputs.json"
+  },
+  "mask_signoff": {
+    "12540311": {
+      "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12540311/review_signoff.json",
+      "signoff_sha256": "c75bbbd517351318692031aa58b5bb856f6235a0d953e9029559c48236181ba5",
+      "reviewed_by": "owner",
+      "decision": "accept",
+      "date": "2026-10-28T16:30:03Z",
+      "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though."
+    },
+    "12933256": {
+      "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12933256/review_signoff.json",
+      "signoff_sha256": "31224feb85b9aa7296ed98ffb069d513979df1fedd0f2689c5fa7dbc1fcd20fc",
+      "reviewed_by": "owner",
+      "decision": "accept",
+      "date": "2026-10-28T16:30:07Z",
+      "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though."
+    },
+    "17736741": {
+      "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/17736741/review_signoff.json",
+      "signoff_sha256": "52985189abfd4661db622c279fd1b2a2a0f4ac37f865800bfa6662b30be82b45",
+      "reviewed_by": "owner",
+      "decision": "accept",
+      "date": "2026-10-28T16:30:10Z",
+      "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though."
+    },
+    "23007103": {
+      "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/23007103/review_signoff.json",
+      "signoff_sha256": "2be2f1b205fb42f6074a86df2a410cbe8630524343511130d7ab4db8b3b74347",
+      "reviewed_by": "owner",
+      "decision": "accept",
+      "date": "2026-10-28T16:30:14Z",
+      "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though."
+    }
+  },
+  "tracker": {
+    "tracker": "CoTracker3 online (CoTrackerOnlinePredictor, v2=False)",
+    "source": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/co-tracker",
+    "commit": "82e02e8029753ad4ef13cf06be7f4fc5facdda4d",
+    "checkpoint": "/mnt/data0/magna/.cache/torch/hub/checkpoints/scaled_online.pth",
+    "checkpoint_sha256": "205d34789f19699d64b22cf93f9b697f15f28d4025240e31532e504109837218",
+    "window_len": 16,
+    "step": 8,
+    "model_size_hw": [
+      384,
+      512
+    ],
+    "iters": 6,
+    "visibility_rule": "sigmoid(vis) * sigmoid(conf) > 0.6",
+    "resize": "bilinear align_corners=True native -> model; query/track scale (size_model - 1) / (size_native - 1)",
+    "crop": null,
+    "support_grid": false,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "views": [
+    {
+      "serial": "12540311",
+      "seed": 20260923,
+      "queries": 5000,
+      "tracker_visible_fraction": 0.988275,
+      "frame0_status": {
+        "invalid_depth_at_frame0": 30,
+        "member": 4948,
+        "no_instance_mask_at_frame0": 22
+      },
+      "frame0_members": {
+        "object": 1013,
+        "hand_A": 2357,
+        "hand_B": 1578
+      },
+      "ambiguous_frame0": {
+        "rule": "frame-zero pixel in more than one instance mask: excluded from every population (owner decision 2026-09-23)",
+        "queries": [],
+        "instances": []
+      },
+      "mask_uncovered_frames": {
+        "object": 0,
+        "hand_A": 0,
+        "hand_B": 0
+      }
+    },
+    {
+      "serial": "12933256",
+      "seed": 20260924,
+      "queries": 5000,
+      "tracker_visible_fraction": 0.9867681818181818,
+      "frame0_status": {
+        "invalid_depth_at_frame0": 80,
+        "member": 4900,
+        "no_instance_mask_at_frame0": 20
+      },
+      "frame0_members": {
+        "object": 851,
+        "hand_A": 1724,
+        "hand_B": 2325
+      },
+      "ambiguous_frame0": {
+        "rule": "frame-zero pixel in more than one instance mask: excluded from every population (owner decision 2026-09-23)",
+        "queries": [],
+        "instances": []
+      },
+      "mask_uncovered_frames": {
+        "object": 0,
+        "hand_A": 0,
+        "hand_B": 0
+      }
+    },
+    {
+      "serial": "17736741",
+      "seed": 20260925,
+      "queries": 5000,
+      "tracker_visible_fraction": 0.9757875,
+      "frame0_status": {
+        "invalid_depth_at_frame0": 37,
+        "member": 4933,
+        "no_instance_mask_at_frame0": 30
+      },
+      "frame0_members": {
+        "object": 981,
+        "hand_A": 2236,
+        "hand_B": 1716
+      },
+      "ambiguous_frame0": {
+        "rule": "frame-zero pixel in more than one instance mask: excluded from every population (owner decision 2026-09-23)",
+        "queries": [],
+        "instances": []
+      },
+      "mask_uncovered_frames": {
+        "object": 0,
+        "hand_A": 0,
+        "hand_B": 0
+      }
+    },
+    {
+      "serial": "23007103",
+      "seed": 20260926,
+      "queries": 5000,
+      "tracker_visible_fraction": 0.9745522727272727,
+      "frame0_status": {
+        "invalid_depth_at_frame0": 111,
+        "member": 4866,
+        "no_instance_mask_at_frame0": 23
+      },
+      "frame0_members": {
+        "object": 1215,
+        "hand_A": 1296,
+        "hand_B": 2355
+      },
+      "ambiguous_frame0": {
+        "rule": "frame-zero pixel in more than one instance mask: excluded from every population (owner decision 2026-09-23)",
+        "queries": [],
+        "instances": []
+      },
+      "mask_uncovered_frames": {
+        "object": 0,
+        "hand_A": 0,
+        "hand_B": 0
+      }
+    }
+  ]
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/query_tracks/tracks_12540311.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f68eb3b5800515658a15048af05a97cd79b0d4c8c2d131ada2782e1633b1ab6b
+size 30052116

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/query_tracks/tracks_12933256.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8916b148a139939bdbf7b0a2643c35b6173ec0b76f048234643e0405102bd37f
+size 30052112

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/query_tracks/tracks_17736741.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ff85b896bc7f9f7e8feeed05643a6d1f9ace763f763f7f6969adc1e79898fda
+size 30052116

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/query_tracks/tracks_23007103.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ef3416a1ee42f957f202562397c2598d35574cc55713e0fcb865cbf7739f3a
+size 30052116

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/fitting/fitting_association.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859ca2bccfe501be881435b323eed371e0575c7d4899b19853262df14ea8fa8a
+size 18501458

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/fitting/fitting_observations.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adc82e188228632e80f2d31c7f708d6dc160ce8c9a05e33b25d0fd9594ebf262
+size 15608923

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/lifted/lifted_12540311.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d8caba84a7864e2c59ec991a87c3f557ab6d533dc2953e6c03f02a88476ec6b
+size 106642078

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/lifted/lifted_12933256.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92e9839d05947e9b091b9b2c8c996a4f13173e8acd9b57cb2119b219713aa789
+size 106641174

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/lifted/lifted_17736741.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f1bf56bdb6e9fda1103e53065474cb1315690f5d6568258d219f9d340d9b8d
+size 106642074

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/lifted/lifted_23007103.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0989433fc626824fc3c4c49c35a5312c0dec5409879e90b37158a29e9d628301
+size 106640794

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/paired_depth/native_12540311.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4244f95e103416dceedff7340fee3a5899b4a071788618e6f8172fa4e54488b5
+size 106636942

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/paired_depth/native_12933256.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a72903571ea0ec32ca8b6f0f5f15accf8e74977ebe4a746fb699cb142d5efc0
+size 106636038

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/paired_depth/native_17736741.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa85b4932a93bfd887c2418c18bf1a0e6ea675385781c1a964100c34a1ebe314
+size 106636942

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/paired_depth/native_23007103.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7831a739e221f2890aea110a44ad350455ba19a615d832af5969ff078a626971
+size 106635662

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/paired_depth/waft_12540311.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c91f7afce7d45a6940f338222d9af5ac30b4a1956e8387dbe90cf04c322d08
+size 106636990

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/paired_depth/waft_12933256.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3459467131c25da1a14449e636357cf010f9e0af251622bb88d5c662f84e4007
+size 106636086

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/paired_depth/waft_17736741.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0648e2ba85e0dee4e52e580fb4a8ae9680d2774324b3564601c1016d87dd3df7
+size 106636990

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/rt3_lifts/paired_depth/waft_23007103.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ee978a78780dffec476634c6db82c1c9c5588195752e7720fbc2ebc51ea946
+size 106635710

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/select_waft.log

@@ -0,0 +1 @@
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json; native RGB/mask identities and interaction bounds are unchanged

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/select_waft_argv.json

@@ -0,0 +1,13 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "select-depth",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232717_273624",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/per_camera_inputs.json",
+  "--depth-source",
+  "waft_stereo_dav2l5",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft"
+]

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/select_waft_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "wall_seconds": 2.0959384441375732
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/selected_mask_admission.json

@@ -0,0 +1,147 @@
+{
+  "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/owner_mask_acceptance_c6a_selected_20261028.json",
+  "source_selection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/mask_review_selection.json",
+  "cameras": [
+    {
+      "serial": "12540311",
+      "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12540311/inspection/frames.npz",
+      "T": 352,
+      "roles": {
+        "object": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12540311/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "hand_A": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12540311/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "hand_B": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12540311/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "occluder": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12540311/review_signoff_occluder.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        }
+      }
+    },
+    {
+      "serial": "12933256",
+      "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12933256/inspection/frames.npz",
+      "T": 352,
+      "roles": {
+        "object": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12933256/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "hand_A": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12933256/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "hand_B": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12933256/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "occluder": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12933256/review_signoff_occluder.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        }
+      }
+    },
+    {
+      "serial": "17736741",
+      "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/17736741/inspection/frames.npz",
+      "T": 352,
+      "roles": {
+        "object": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/17736741/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "hand_A": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/17736741/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "hand_B": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/17736741/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "occluder": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/17736741/review_signoff_occluder.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        }
+      }
+    },
+    {
+      "serial": "23007103",
+      "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/23007103/inspection/frames.npz",
+      "T": 352,
+      "roles": {
+        "object": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/23007103/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "hand_A": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/23007103/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "hand_B": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/23007103/review_signoff.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        },
+        "occluder": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/23007103/review_signoff_occluder.json",
+          "covered_frames": 352,
+          "visible_frames": 352,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
+        }
+      }
+    }
+  ]
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/tapnextpp_tracks/track_report.json

@@ -0,0 +1,111 @@
+{
+  "checkpoint": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt",
+  "checkpoint_sha256": "6cd0e793fdcface3063d63f8ed3819bcf74c2c0468fe1fef85acee4de2f3609f",
+  "fork_commit": "454041f7eb110a3eeabf9743cd97f119ed91fb8e",
+  "load_report": {
+    "checkpoint_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt",
+    "checkpoint_top_level_keys": [
+      "epoch",
+      "global_step",
+      "pytorch-lightning_version",
+      "state_dict",
+      "loops",
+      "callbacks",
+      "optimizer_states",
+      "lr_schedulers",
+      "fit_loop",
+      "optimization_steps",
+      "training_batches",
+      "lr_scheduler_states",
+      "cfg"
+    ],
+    "checkpoint_variant": "tapnextpp_512",
+    "image_size_hw": [
+      256,
+      256
+    ],
+    "load_ok": true,
+    "missing_keys": [],
+    "model_class": "tapnet.tapnext.tapnext_torch.TAPNext",
+    "num_state_dict_tensors": 401,
+    "rgb_input_size_hw": [
+      512,
+      512
+    ],
+    "state_dict_prefix_stripped": "tapnext.",
+    "strict_load": true,
+    "unexpected_keys": []
+  },
+  "schema": "real_rgbd_rt2_tapnextpp_512_run_v1",
+  "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+  "selected_frames_sha256": "6bf8b4e86c9b020d202eda2fd447e94404522cbaac61ed9235731dbff43f9459",
+  "selected_session": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232717_273624",
+  "signed_native_frames": null,
+  "signed_native_frames_sha256": null,
+  "views": [
+    {
+      "crop_xyxy": [
+        439,
+        408,
+        1111,
+        1080
+      ],
+      "frames": 352,
+      "queries": 5000,
+      "saved_query_product_sha256": "f68eb3b5800515658a15048af05a97cd79b0d4c8c2d131ada2782e1633b1ab6b",
+      "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/cameras/12540311/inspection/frames.npz",
+      "selected_frames_sha256": "0450cadfdb8c284b6fde0b8e259734be122c0e7d2f3373f13109f80043be5bfb",
+      "serial": "12540311",
+      "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12540311/inspection/frames.npz",
+      "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12540311.npz"
+    },
+    {
+      "crop_xyxy": [
+        718,
+        260,
+        1372,
+        914
+      ],
+      "frames": 352,
+      "queries": 5000,
+      "saved_query_product_sha256": "8916b148a139939bdbf7b0a2643c35b6173ec0b76f048234643e0405102bd37f",
+      "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/cameras/12933256/inspection/frames.npz",
+      "selected_frames_sha256": "f1d74b01a75a56b544f6244b60ea4d674a1543b92bfe5109e2b3f275952aedb9",
+      "serial": "12933256",
+      "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12933256/inspection/frames.npz",
+      "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12933256.npz"
+    },
+    {
+      "crop_xyxy": [
+        546,
+        253,
+        1260,
+        967
+      ],
+      "frames": 352,
+      "queries": 5000,
+      "saved_query_product_sha256": "7ff85b896bc7f9f7e8feeed05643a6d1f9ace763f763f7f6969adc1e79898fda",
+      "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/cameras/17736741/inspection/frames.npz",
+      "selected_frames_sha256": "30d7e802a088889abdd6b434a617c24282d3ffa08c6b1cf932790c9467122d04",
+      "serial": "17736741",
+      "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/17736741/inspection/frames.npz",
+      "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_17736741.npz"
+    },
+    {
+      "crop_xyxy": [
+        861,
+        194,
+        1431,
+        764
+      ],
+      "frames": 352,
+      "queries": 5000,
+      "saved_query_product_sha256": "40ef3416a1ee42f957f202562397c2598d35574cc55713e0fcb865cbf7739f3a",
+      "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/cameras/23007103/inspection/frames.npz",
+      "selected_frames_sha256": "1681338d7e447a78359cea139a03115ce732121b540a86eedce2948167bf0e5f",
+      "serial": "23007103",
+      "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/23007103/inspection/frames.npz",
+      "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_23007103.npz"
+    }
+  ]
+}

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/tapnextpp_tracks/tracks_12540311.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b0784fab5fda331910f4e2406332accd1a4417a0ab8cbb8f681e0d4f67bc84
+size 55738924

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/tapnextpp_tracks/tracks_12933256.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9b469fb2f40646db8128fb632e4e1d4e4f7b927a6dbc6bb23decfb89a22d047
+size 55738920

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/tapnextpp_tracks/tracks_17736741.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6331adc3cb85bf9069fc68b022ab196cbbf9c289401bc4e66492399326de7f1c
+size 55738920

sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/tapnextpp_tracks/tracks_23007103.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85993314423636a30c5e65a94d71513ebab58d7edd286f08ef0747d15f78dd13
+size 55738920