sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585: payload batch 1/2

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/C6A_REVIEW.md

@@ -0,0 +1,37 @@
+# session_20260921_232242_960732: C6a proposal review
+
+**Status: agent proposal; owner mask/window/contact decisions pending.**
+
+Object: grey timing belt. Motion: right-handed grasp completely off table without allowing object pivot.
+Current packet anchor converted frames: **278–585 inclusive**.
+Current packet endpoint sync timestamps: `1790047397776770663` / `1790047408079927643` ns.
+Participating identities: `hand_A`; A is the right, bracelet-wearing hand, B the left.
+Hands mean visible bare forearm through fingertips, excluding bracelet/sleeve. Occluder means the whole visible person, including clothing, accessories and nonparticipating hands.
+
+C1 evidence: `/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_proposal_c1/proposal.json`.
+
+**Unequal counts:** the four products below each consume only their named camera’s own column. Other nearest-camera columns in those NPZ files are not admitted source clocks. C1a is required before tracking/lifting/fitting-input consumers use this case.
+
+## Exact own-camera mapping
+
+| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns |
+|---|---|---|---|---|
+| 12540311 | 0–307 | 278–585 | 279–586 | 1790047397776770663 / 1790047408079927643 |
+| 12933256 | 0–308 | 278–586 | 279–587 | 1790047397771242679 / 1790047408073517752 |
+| 17736741 | 0–308 | 278–586 | 279–587 | 1790047397764328186 / 1790047408067253189 |
+| 23007103 | 0–308 | 278–586 | 279–587 | 1790047397781583954 / 1790047408085256495 |
+
+## Review products
+
+The newest completed media for each view/role currently present are listed below. A correction directory may cover only its changed views/roles; its media_index.json lists the exact coverage. Earlier prompts, propagation runs and media remain on disk. A new correction can make an older media directory historical; use current supplier admission before signoff or downstream processing.
+
+- Views 12540311: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/review_media_c6a_sparse_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/review_media_c6a_sparse_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/review_media_c6a_sparse_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/review_media_c6a_sparse_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/review_media_c6a_sparse_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/review_media_c6a_sparse_v1/boundary_end.mp4).
+- Views 12933256: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12933256/review_media_v2/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12933256/review_media_v2/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12933256/review_media_v2/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12933256/review_media_v2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12933256/review_media_v2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12933256/review_media_v2/boundary_end.mp4).
+- Views 17736741: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/17736741/review_media_c6a_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/17736741/review_media_c6a_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/17736741/review_media_c6a_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/17736741/review_media_c6a_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/17736741/review_media_c6a_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/17736741/review_media_c6a_v1/boundary_end.mp4).
+- Views 23007103: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/23007103/review_media_c6a_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/23007103/review_media_c6a_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/23007103/review_media_c6a_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/23007103/review_media_c6a_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/23007103/review_media_c6a_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/23007103/review_media_c6a_v1/boundary_end.mp4).
+
+## Decisions and downstream boundary
+
+This card records the decisions above and grants no additional stage. Actual owner mask/window decisions must be recorded before final tracking. The three pushes also require an explicit decision about the fixed material-attachment approximation. After prompt corrections, perform fresh current-input admission; an old fitting identity alone does not detect every C1 F3 correction.
+
+C6a review findings and decisions are collected under `lab/c6a_20261027/`; source C1 records and protected A/B inputs remain unchanged.

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/README.md

@@ -0,0 +1,52 @@
+# session_20260921_232242_960732 — C1 agent mask/window proposal
+
+**Status: AGENT PROPOSAL, pending owner review. Nothing here is owner-accepted.**
+
+- Literal description: object `grey timing belt`; motion `right-handed grasp completely off table without allowing object pivot`; notes `human standing to left of franka`.
+- Proposed window: anchor `zed_12540311_left_rgb` converted frames **278–585 inclusive**, start/end `sync_time_ns` 1790047397776770663 / 1790047408079927643 (end is the last included frame; the sidecar stores the anchor overlap-grid half-open sync interval [277, 585)).
+- Window rationale (inspection agent): Start = first hand contact: in 17736741 (index = anchor index before the anchor drop at 495) fingertips reach the belt wall at conv 278 and wrap it over 279-284 (start_17736741_s1_276-288_zoom.jpg); the top-down anchor view cannot resolve the touch. End = last frame before release: after the belt is set back on the table (~anchor 570-580), the grip is intact through 17736741 conv 586 (= anchor 585; mapping from boundary_end_a586.jpg, dt -12 ms), fingers start to open at 17736741 587-589 and the hand leaves 593+ (end_17736741_s1_584-596_zoom.jpg). No regrasp or second hand at stride 10 (17736741 250-640; 12933256 280-600).
+- Participating hands: hand_A (hand_A = person's right hand, wearing the bracelet). The other identity is proposed as a reviewed absence over the whole window; its visible pixels belong to the occluder.
+- Per-camera native counts: 12540311 308, 12933256 309, 17736741 309, 23007103 309 (anchor T=308; rectangular `per_camera_native_range` REFUSED).
+
+## Frames and index mappings (per-view clocks)
+
+One frame product per camera under `cameras/<serial>/` (window sidecar anchored on that camera over its own resolved start/end captures); only the camera's own column is consumed.
+
+| camera | converted | native container | first/last view time ns | T |
+|---|---|---|---|---|
+| 12540311 | 278–585 | 279–586 | 1790047397776770663 / 1790047408079927643 | 308 |
+| 12933256 | 278–586 | 279–587 | 1790047397771242679 / 1790047408073517752 | 309 |
+| 17736741 | 278–586 | 279–587 | 1790047397764328186 / 1790047408067253189 | 309 |
+| 23007103 | 278–586 | 279–587 | 1790047397781583954 / 1790047408085256495 | 309 |
+
+## Review media
+
+Per camera `cameras/<serial>/review_media_v1/` (12933256: `review_media_v2` after its occluder correction): role videos, boundary clips and `difficult_t*.png` single-view sheets; prompt overlays in `cameras/<serial>/proposal_overlays_v*/`.
+
+## Agent corrections before review (originals kept as earlier versions/runs)
+
+- 12540311 and 23007103 occluders: previews missed the sleeve / left holes on the dark shirt; points and backdrop negatives added before saving.
+- 12933256 occluder t=0 superseded (v02): v01 missed the resting left arm at the bottom-right image edge; repropagated as run0002.
+- Residual (independent audit F2 sweep): a small top-edge head piece in 12540311 at t~280-300 is only partly covered; a point there captured a floor cable, so no prompt was added.
+- 17736741 and 23007103 hand_A: sleeve negatives added before saving.
+
+## Difficult frames and uncertainties
+
+- Unequal per-camera counts (anchor 12540311 dropped a capture after conv 495): per-view clock products under cameras/<serial>/, each camera's own consecutive captures (308/309/309/309). Media are per camera (no synchronized 2x2).
+- Tracking, lifting, derive-fitting and photometric inputs do not yet accept per-camera products: the owner-chosen follow-up PR must adapt them before this window can be fitted.
+- Start judged from 17736741 (fingertips meet the belt wall at conv 278); 23007103 shows the fingers just above the belt then.
+- Window inspection: anchor 278-585 (12540311): grey belt is low-contrast against the table/background; thin wall seen edge-on (foreshortened) in the top-down view
+- Window inspection: anchor ~360-560 (12540311, 17736741, 23007103): airborne loop seen nearly edge-on in some views (thin/foreshortened band); hand occludes the grasped segment
+- Window inspection: anchor ~330-360 (all): lift-off: one side leaves the table while the other still touches (partial table contact)
+- Window inspection: anchor 495 (12540311): anchor camera dropped one capture between conv 495 and 496
+- Start contact judged from 17736741 only (fingertips meet the belt wall); +-2 frames.
+- End: release starts with finger opening at anchor ~586-588; +-1 frame.
+- per_camera_native_range rejected: anchor 12540311 has one dropped capture after conv 495 inside the window, so T=308 while the other three cameras have 309. Any window spanning the lift will include this drop.
+- 'No pivot' in the grasp is not verifiable visually.
+
+## Owner actions
+
+1. Watch the role videos and boundary clips; check that the same hand-to-material attachment and the participating hands persist, and that thin, crossing or folded segments survive.
+2. To correct a prompt: `phystwin_real_rgbd.py annotate ... --output <annotations> --masks <masks>`, select the frame/instance, **Load saved prompt as draft**, edit, preview, accept with supersede ticked, then `propagate` only that view/instance range and rerun `review-media` into a new directory.
+3. To accept: two `signoff` records with your literal decision text (object + hands, and occluder), as in plan §6.
+Window, hand and capture-association changes rebind the frames and need new masks; depth/calibration-only changes do not.

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json

@@ -0,0 +1,99 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232242_960732",
+    "window_sha256": "2de4f81265edef38e994e3aaa549b1dd325ddb833268ec7e3b998ef39c8fbc44",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
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+      585
+    ],
+    "anchor_time_ns_first_last": [
+      1790047397776770663,
+      1790047408079927643
+    ]
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_A",
+  "frame": {
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+    "sync_index": 277,
+    "converted_frame_index": 278,
+    "official_frame_index": 278,
+    "native_container_frame_index": 279,
+    "view_time_ns": 1790047397776770663
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
+  ],
+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
+    [
+      893.0,
+      790.0
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+    [
+      957.0,
+      833.0
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+    [
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+  "labels": [
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+    1,
+    0
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+  "box_uv": [
+    600.0,
+    740.0,
+    990.0,
+    910.0
+  ],
+  "source": "agent:c1_claude_20261026",
+  "note": "right hand (bracelet); bracelet negative",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "4a6fa84cb7f2a82ee951b77103175bc889b7f621468bc089e05246db0941439e",
+  "seed_mask_pixels": 26501,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c1_lab_proposal_support/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c1_lab_proposal_support/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-26T13:43:15Z"
+}

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz

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+oid sha256:4a6fa84cb7f2a82ee951b77103175bc889b7f621468bc089e05246db0941439e
+size 1849

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01.json

@@ -0,0 +1,55 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232242_960732",
+    "window_sha256": "2de4f81265edef38e994e3aaa549b1dd325ddb833268ec7e3b998ef39c8fbc44",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      277,
+      585
+    ],
+    "anchor_time_ns_first_last": [
+      1790047397776770663,
+      1790047408079927643
+    ]
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 277,
+    "converted_frame_index": 278,
+    "official_frame_index": 278,
+    "native_container_frame_index": 279,
+    "view_time_ns": 1790047397776770663
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
+  ],
+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [],
+  "labels": [],
+  "box_uv": null,
+  "source": "agent:c1_claude_20261026",
+  "note": "nonparticipating left hand: not a controller; its visible pixels (resting on the table edge) belong to the occluder",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "6e854e62e28996ac78abed3a72856e00f27ba852d1e4f076149062d512afe1d0",
+  "seed_mask_pixels": 0,
+  "seed_model": {
+    "predictor": "agent_proposed_absence"
+  },
+  "created_utc": "2026-10-26T13:43:15Z",
+  "reviewed_absence_half_open": [
+    0,
+    308
+  ]
+}

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232242_960732",
+    "window_sha256": "2de4f81265edef38e994e3aaa549b1dd325ddb833268ec7e3b998ef39c8fbc44",
+    "serials": [
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+      "12933256",
+      "17736741",
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+    ],
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+    "anchor_time_ns_first_last": [
+      1790047397776770663,
+      1790047408079927643
+    ]
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 277,
+    "converted_frame_index": 278,
+    "official_frame_index": 278,
+    "native_container_frame_index": 279,
+    "view_time_ns": 1790047397776770663
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
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+  "points_uv": [
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+  "box_uv": [
+    750.0,
+    548.0,
+    1060.0,
+    828.0
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+  "source": "agent:c1_claude_20261026",
+  "note": "grey timing belt band; interior and fingers negative",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "9e57e3d2f4fbef726481a2554a1a18668054b9b1ff37cf690b88b26af83058c4",
+  "seed_mask_pixels": 12739,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c1_lab_proposal_support/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c1_lab_proposal_support/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
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+}

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+}

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+    "device_clock": "device_time_ns",
+    "frame_association": "nearest per view to each anchor time, ties to the earlier frame, no tolerance",
+    "intrinsics_source": "metadata/calibration.json camera_intrinsics at the recorded stream size",
+    "calibration": {
+      "package_dir": "metadata/calibration_package",
+      "world_frame": "table",
+      "pose_source": "phase_05_final",
+      "final_transform_source": "combined_fixed_movable_ba",
+      "source_run_name": "20260921_200440",
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+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732
+  session_id: session_20260921_232242_960732
+annotation_interface:
+  method: rerun
+  rerun_timeline: sync_time_ns
+  rerun_launch_command: uv run --no-sync python -m dataset_converter.visualize_rerun
+    --session-path /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732
+    --sensor-types zed
+  timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the
+    current integer-nanosecond timestamp at the desired start/end moments.
+  notes: ''
+timebase:
+  policy: native_anchor_overlap
+  sync_policy: AnchorStreamSyncPolicy
+  overlap: true
+  anchor_serial: '12540311'
+  anchor_stream_id: zed_12540311_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33437929
+  fps_estimate: 29.906158
+manual_annotation:
+  start_global_timestamp_ns: 1790047397776770663
+  end_global_timestamp_ns: 1790047408079927643
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 1
+  object_description: grey timing belt
+  controller_description: 'hand_A = person''s right hand (bracelet); hand_B = person''s
+    left hand. Participating: hand_A; the other hand is proposed as a reviewed absence,
+    its visible pixels belong to the occluder'
+  annotator_notes: 'C1 AGENT PROPOSAL 2026-10-26, NOT owner-accepted. Proposed anchor-12540311
+    converted frames [278, 585] inclusive. Start = first hand contact: in 17736741
+    (index = anchor index before the anchor drop at 495) fingertips reach the belt
+    wall at conv 278 and wrap it over 279-284 (start_17736741_s1_276-288_zoom.jpg);
+    the top-down anchor view cannot resolve the touch. End = last frame before release:
+    after the belt is set back on the table (~anchor 570-580), the grip is intact
+    through 17736741 conv 586 (= anchor 585; mapping from boundary_end_a586.jpg, dt
+    -12 ms), fingers start to open at 17736741 587-589 and the hand leaves 593+ (end_17736741_s1_584-596_zoom.jpg).
+    No regrasp or second hand at stride 10 (17736741 250-640; 12933256 280-600).'
+resolved_window:
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+  end_sync_index_exclusive: 585
+  start_anchor_timestamp_ns: 1790047397776770663
+  end_anchor_timestamp_ns: 1790047408079927643
+  frame_count: 308
+  duration_s: 10.303157
+per_camera_resolution:
+  '12540311':
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+    end_source_frame_index_exclusive: 586
+    start_source_timestamp_ns: 1790047397776770663
+    end_source_timestamp_ns: 1790047408079927643
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '12933256':
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+    end_source_frame_index_exclusive: 587
+    start_source_timestamp_ns: 1790047397771242679
+    end_source_timestamp_ns: 1790047408073517752
+    start_delta_ns: -5527984
+    end_delta_ns: -6409891
+  '17736741':
+    start_source_frame_index: 278
+    end_source_frame_index_exclusive: 587
+    start_source_timestamp_ns: 1790047397764328186
+    end_source_timestamp_ns: 1790047408067253189
+    start_delta_ns: -12442477
+    end_delta_ns: -12674454
+  '23007103':
+    start_source_frame_index: 278
+    end_source_frame_index_exclusive: 587
+    start_source_timestamp_ns: 1790047397781583954
+    end_source_timestamp_ns: 1790047408085256495
+    start_delta_ns: 4813291
+    end_delta_ns: 5328852
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 12674454
+  warnings: []
+created_by: manual
+created_at: '2026-10-26T12:44:02+00:00'
+updated_at: '2026-10-26T12:44:02+00:00'
+

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_accessories_v1.log

@@ -0,0 +1,4 @@
+12540311/occluder t=0: 186362 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v1/12540311/occluder_t0000.png
+12540311/occluder t=100: 193520 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v1/12540311/occluder_t0100.png
+12540311/occluder t=170: 208726 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v1/12540311/occluder_t0170.png
+12540311/occluder t=280: 188850 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v1/12540311/occluder_t0280.png

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_accessories_v1_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/proposal_corrections_c6a_accessories_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_accessories_v1_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 10.147887945175171,
+  "accepted": false
+}

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_accessories_v2.log

@@ -0,0 +1,4 @@
+12540311/occluder t=0: 29480 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v2/12540311/occluder_t0000.png
+12540311/occluder t=100: 52717 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v2/12540311/occluder_t0100.png
+12540311/occluder t=170: 51175 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v2/12540311/occluder_t0170.png
+12540311/occluder t=280: 32987 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v2/12540311/occluder_t0280.png

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_accessories_v2_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/proposal_corrections_c6a_accessories_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_accessories_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_accessories_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 10.094952821731567,
+  "accepted": false
+}

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_sparse_v1.log

@@ -0,0 +1,4 @@
+12540311/occluder t=0: 188013 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_sparse_v1/12540311/occluder_t0000.png
+12540311/occluder t=100: 213122 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_sparse_v1/12540311/occluder_t0100.png
+12540311/occluder t=170: 238307 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_sparse_v1/12540311/occluder_t0170.png
+12540311/occluder t=280: 199474 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_sparse_v1/12540311/occluder_t0280.png

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_sparse_v1_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/proposal_corrections_c6a_sparse_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_sparse_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_sparse_v1_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 10.076876640319824,
+  "accepted": false
+}

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_v1.log

@@ -0,0 +1 @@
+12540311/occluder t=280: 193107 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_v1/12540311/occluder_t0280.png

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_v1_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/proposal_corrections_c6a_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_v1_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 14.095728874206543,
+  "accepted": false
+}

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_v2.log

@@ -0,0 +1 @@
+12540311/occluder t=280: 188152 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_v2/12540311/occluder_t0280.png

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_v2_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/proposal_corrections_c6a_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_v2_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 10.028337478637695,
+  "accepted": false
+}

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_v3.log

@@ -0,0 +1 @@
+12540311/occluder t=280: 192433 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_v3/12540311/occluder_t0280.png

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_v3_argv.json

@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/proposal_corrections_c6a_v3.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/correction_preview_c6a_v3",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/preview_c6a_v3_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 9.983689785003662,
+  "accepted": false
+}

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/propagate_12540311_occluder_c6a_sparse_v1.log

@@ -0,0 +1,3 @@
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/masks/12540311/occluder/run0003_t0000-0308.npz

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/propagate_12540311_occluder_c6a_sparse_v1_argv.json

@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/masks",
+  "--view",
+  "12540311",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "308",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a agent correction; no owner acceptance"
+]

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/propagate_12540311_occluder_c6a_sparse_v1_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 27.650973796844482,
+  "accepted": false
+}

sessions/session_20260921_232242_960732/preprocessing/mask-supplier-window-anchor0278-0585/native/cameras/12540311/propagate_12540311_occluder_c6a_v3.log

@@ -0,0 +1,3 @@
+
+
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0278-0585/cameras/12540311/masks/12540311/occluder/run0002_t0000-0308.npz