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+  "--sample-t",
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/phystwin_window.yaml b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/phystwin_window.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8c1fd2dd65e767b86f7a04203760246d1dae8d1d
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/phystwin_window.yaml
@@ -0,0 +1,88 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043
+  session_id: session_20260921_225744_574043
+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_225744_574043
+    --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: '17736741'
+  anchor_stream_id: zed_17736741_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33447081
+  fps_estimate: 29.897975
+manual_annotation:
+  start_global_timestamp_ns: 1790045899153567456
+  end_global_timestamp_ns: 1790045915377715513
+  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: taped round belt
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Fingertips reach the near end of the loop ~296-300 (12933256: fingertips
+    above loop at 296-298, touching at 300-302; anchor: fingers over loop end from
+    296). 302 = first frame with contact confirmed in both opposing views. Single
+    fist/pinch grip on the same end persists through lift (~360-420), hanging carry
+    (~420-530), hand tilt and lowering (~530-560), compression of the loop against
+    the table (~560-632, loop flattened under the fist), re-lift (~640-720), set-down
+    (~744-776) and hold on table. Release: anchor 787 fingers start extending, 12933256
+    788 (=anchor 787) fingers open; 786 = last held frame.'
+resolved_window:
+  start_sync_index: 301
+  end_sync_index_exclusive: 787
+  start_anchor_timestamp_ns: 1790045899153567456
+  end_anchor_timestamp_ns: 1790045915377715513
+  frame_count: 486
+  duration_s: 16.224148
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 787
+    start_source_timestamp_ns: 1790045899156119938
+    end_source_timestamp_ns: 1790045915380481963
+    start_delta_ns: 2552482
+    end_delta_ns: 2766450
+  '12933256':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899166424200
+    end_source_timestamp_ns: 1790045915390452283
+    start_delta_ns: 12856744
+    end_delta_ns: 12736770
+  '17736741':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899153567456
+    end_source_timestamp_ns: 1790045915377715513
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '23007103':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 787
+    start_source_timestamp_ns: 1790045899140610717
+    end_source_timestamp_ns: 1790045915363606153
+    start_delta_ns: -12956739
+    end_delta_ns: -14109360
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 14109360
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:21:02+00:00'
+updated_at: '2026-10-27T19:21:02+00:00'
+
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v1.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..927879def3140a99525650d942930ee9698bf201
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v1.log
@@ -0,0 +1 @@
+17736741/occluder t=0: 141828 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_sparse_v1/17736741/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v1_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..349980e7910a6ecca2814d6aa2ef2e29f1df4102
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/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_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_corrections_c6a_sparse_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v1_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..69ca5af7484a1c4df0b8b8e5da436c1de7f973ac
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.53810453414917,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v2.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..fe18022144550e06e6bd0c6e7cd5f5e8b8dad169
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v2.log
@@ -0,0 +1 @@
+17736741/occluder t=0: 179261 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_sparse_v2/17736741/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v2_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ca095039d768456ad598367ddb6446d12cbdba
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_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_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_corrections_c6a_sparse_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_sparse_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v2_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..808bacdfdf38cead5c3e4f9c1ebcd1175a82e548
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v2_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.5207061767578125,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v3.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v3.log
new file mode 100644
index 0000000000000000000000000000000000000000..41887206bdd4ff55c71523156e0f06454dd3d825
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v3.log
@@ -0,0 +1 @@
+17736741/occluder t=0: 178127 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_sparse_v3/17736741/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v3_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v3_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3e13847358397e2be9cc1d63ecfc6314d40739
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_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_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_corrections_c6a_sparse_v3.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_sparse_v3",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v3_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v3_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5240f5e24113cfb3ef282a635eae2341ead5d30
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v3_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.489855527877808,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v4.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v4.log
new file mode 100644
index 0000000000000000000000000000000000000000..02e9a7e7b37f92b71b20975177946d625e2ecaca
--- /dev/null
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@@ -0,0 +1 @@
+17736741/occluder t=0: 178916 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_sparse_v4/17736741/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v4_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v4_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bb5c2236d3f6592f3a9ebc8e0187f90cfa93029
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v4_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_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_corrections_c6a_sparse_v4.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_sparse_v4",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v4_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v4_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..172672b45f6261db511276654f8e6ace579f5a0f
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_sparse_v4_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 8.644282341003418,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v1.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..3047932c4826375bd2b48d5bb413cd423cf897f2
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v1.log
@@ -0,0 +1 @@
+17736741/occluder t=0: 141662 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_v1/17736741/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v1_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd5959ae38c2268e05f53ff6c006c73ae3b10f2d
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/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_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_corrections_c6a_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v1_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9c9cd4e9935a43d954889052a58862bd9fcad5b
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 8.468377351760864,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v2.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..7398d40185e40ce2a8711559f22e48771e56ad2e
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v2.log
@@ -0,0 +1 @@
+17736741/occluder t=0: 172381 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_v2/17736741/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v2_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..2abb2cfe0ddc6066085acc69078ad8e6bb3d2127
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/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_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_corrections_c6a_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_preview_c6a_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v2_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f5cc5015e951512391138805c9bd3ee3f8d5a8
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_c6a_v2_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.493325471878052,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_selection_c6a_sparse_v4.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_selection_c6a_sparse_v4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e5da3c8048a6faa7e71f698da8544c861a9d8cd
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/preview_selection_c6a_sparse_v4.json
@@ -0,0 +1,4 @@
+{
+  "agent_preview_review": "Broad person sleeve and bracelet retained; the wedge beside lower coat is smaller than v3 but residual irregular holes remain. No mask filling, extra points or new method. Propagate for interval review and disclose residuals to owner.",
+  "owner_accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v3.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v3.log
new file mode 100644
index 0000000000000000000000000000000000000000..857b9cb4b2ab68df23e4cbfb7fb408ad579bb55b
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v3.log
@@ -0,0 +1,3 @@
+
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+
propagate in video: 0it [00:00, ?it/s]
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks/17736741/occluder/run0002_t0000-0486.npz
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v3_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v3_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..08bb95ddebb49286a116944d490f460db4abf8b6
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v3_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_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks",
+  "--view",
+  "17736741",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "486",
+  "--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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v3_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v3_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e6758ef70f50dc3549b424bae28461229620434
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v3_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 41.29905819892883,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v4.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v4.log
new file mode 100644
index 0000000000000000000000000000000000000000..cbac5293d0996cedda87f254b7a26e749e8d37e3
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v4.log
@@ -0,0 +1,3 @@
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+
propagate in video: 0it [00:00, ?it/s]
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks/17736741/occluder/run0003_t0000-0486.npz
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v4_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v4_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4ffbea29838f337fed4a55ac22cf457e30dd4db
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v4_argv.json
@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks",
+  "--view",
+  "17736741",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "486",
+  "--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"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v4_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v4_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..48a1675069d3576520b63733b6bff45e5aa645bb
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_17736741_occluder_c6a_sparse_v4_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 40.04336643218994,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..b1929c69a694cd85ea4589e50bb548ba6fe0d36e
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_c6a.log
@@ -0,0 +1,10 @@
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks/17736741/object/run0001_t0000-0486.npz
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks/17736741/hand_A/run0001_t0000-0486.npz
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks/17736741/hand_B/run0001_t0000-0486.npz
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+
propagate in video: 0it [00:00, ?it/s]
propagate in video: 0it [00:00, ?it/s]
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks/17736741/occluder/run0001_t0000-0486.npz
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d3d6df5225686c842664fe6893bc6696d79c29
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_c6a_argv.json
@@ -0,0 +1,25 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks",
+  "--view",
+  "17736741",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "486",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a first proposal; pending owner mask/window decisions"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..331bb1f67613078cddbb6a2a9ce74712683ab9a3
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propagate_c6a_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 139.31661462783813,
+  "started_unix": 1793130054.1541061,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v1.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a993aab0a69bff759560bb82746587dfb9ab7e
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v1.json
@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          23,
+          75
+        ],
+        [
+          60,
+          675
+        ],
+        [
+          802,
+          703
+        ],
+        [
+          768,
+          640
+        ],
+        [
+          130,
+          230
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0
+      ],
+      "box": [
+        0,
+        0,
+        938,
+        809
+      ],
+      "note": "Sparse replacement t0 whole-person occluder prompt. Native RGB re-inspected; four positive points prioritize omitted clothing/body, visible person parts and bracelet, with one negative on actual background/robot. Total five points follows owner instruction; use existing SAM2 method with no multipart union. Box preserved from previous correction proposal. Full propagation review and owner mask acceptance remain pending.",
+      "supersede": true
+    }
+  ],
+  "notes": "Owner-directed sparse SAM2 correction, at most five total positive plus negative points per prompt. Case annotations and masks untouched by this draft."
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v2.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0965f2fbf6a6b9021685f130fc553d9a9760df4
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v2.json
@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          23,
+          75
+        ],
+        [
+          60,
+          675
+        ],
+        [
+          802,
+          703
+        ],
+        [
+          768,
+          640
+        ],
+        [
+          90,
+          560
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        0,
+        0,
+        938,
+        809
+      ],
+      "note": "Sparse replacement t0 whole-person occluder prompt. Native RGB re-inspected; four positive points prioritize omitted clothing/body, visible person parts and bracelet, with one negative on actual background/robot. Total five points follows owner instruction; use existing SAM2 method with no multipart union. Box preserved from previous correction proposal. Full propagation review and owner mask acceptance remain pending. Replace background negative by an observed omitted coat point; still five total points.",
+      "supersede": true
+    }
+  ],
+  "notes": "Owner-directed sparse SAM2 correction, at most five total positive plus negative points per prompt. Case annotations and masks untouched by this draft."
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v3.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v3.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f54a76c059fd87d4008e016a52c956868ca20b5
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v3.json
@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          757,
+          655
+        ],
+        [
+          60,
+          675
+        ],
+        [
+          802,
+          703
+        ],
+        [
+          772,
+          633
+        ],
+        [
+          90,
+          560
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        0,
+        0,
+        938,
+        809
+      ],
+      "note": "Five positive points: lower coat, body, hand, and two distinct visible bracelet links. Replaces sparse v2 to address remaining bright bracelet omission, without adding points or changing SAM2.",
+      "supersede": true
+    }
+  ],
+  "notes": "Owner-directed sparse SAM2 correction, at most five total positive plus negative points per prompt. Case annotations and masks untouched by this draft."
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v4.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v4.json
new file mode 100644
index 0000000000000000000000000000000000000000..edb282ee052950e3e2a6932accadda818588d11d
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_sparse_v4.json
@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          757,
+          655
+        ],
+        [
+          60,
+          675
+        ],
+        [
+          802,
+          703
+        ],
+        [
+          772,
+          633
+        ],
+        [
+          186,
+          584
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        0,
+        0,
+        938,
+        809
+      ],
+      "note": "One sparse follow-up for the material coat wedge beside the zipper/underarm. Move redundant torso positive (90,560) to native-confirmed omitted black coat (186,584); keep lower-coat, hand and both bracelet positives. Same box and t0, five total positive points, supersede=true. Existing sleeve/body connectivity retained for SAM2 preview assessment. Narrow saturated accessory highlights and tiny isolated holes are disclosed rather than targeted by additional revisions.",
+      "supersede": true
+    }
+  ],
+  "notes": "Owner-directed sparse SAM2 correction, at most five total positive plus negative points per prompt. Case annotations and masks untouched by this draft."
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_v1.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..30a34ec053ff4c848af610d39c66446c092a5c3b
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_v1.json
@@ -0,0 +1,97 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          23,
+          75
+        ],
+        [
+          105,
+          430
+        ],
+        [
+          400,
+          535
+        ],
+        [
+          695,
+          640
+        ],
+        [
+          802,
+          703
+        ],
+        [
+          990,
+          620
+        ],
+        [
+          580,
+          850
+        ],
+        [
+          520,
+          725
+        ],
+        [
+          60,
+          500
+        ],
+        [
+          60,
+          675
+        ],
+        [
+          10,
+          750
+        ],
+        [
+          130,
+          230
+        ],
+        [
+          230,
+          150
+        ],
+        [
+          350,
+          100
+        ],
+        [
+          200,
+          820
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        0,
+        0,
+        938,
+        809
+      ],
+      "note": "Superseding t0 whole-human occluder prompt: existing mask omitted the large black torso at image left, confirmed on native RGB and all32 sampled times. Add torso positives; preserve sleeve, face, forearm, hand and bracelet. Explicit negatives exclude static blue backdrop and floor. Proposal only; no owner acceptance."
+    }
+  ],
+  "notes": "Not previewed, applied, propagated or owner accepted. Root owns SAM steps."
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_v2.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..738070d930da1d43af33e6fb8455f95a4b266b0b
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_corrections_c6a_v2.json
@@ -0,0 +1,143 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          23,
+          75
+        ],
+        [
+          105,
+          430
+        ],
+        [
+          400,
+          535
+        ],
+        [
+          695,
+          640
+        ],
+        [
+          802,
+          703
+        ],
+        [
+          990,
+          620
+        ],
+        [
+          580,
+          850
+        ],
+        [
+          520,
+          725
+        ],
+        [
+          60,
+          500
+        ],
+        [
+          60,
+          675
+        ],
+        [
+          10,
+          750
+        ],
+        [
+          130,
+          230
+        ],
+        [
+          230,
+          150
+        ],
+        [
+          350,
+          100
+        ],
+        [
+          200,
+          820
+        ],
+        [
+          40,
+          550
+        ],
+        [
+          80,
+          580
+        ],
+        [
+          60,
+          620
+        ],
+        [
+          70,
+          710
+        ],
+        [
+          20,
+          740
+        ],
+        [
+          110,
+          665
+        ],
+        [
+          130,
+          600
+        ],
+        [
+          768,
+          640
+        ],
+        [
+          755,
+          668
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0,
+        0,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        0,
+        0,
+        938,
+        809
+      ],
+      "note": "Superseding t0 whole-human occluder prompt: existing mask omitted the large black torso at image left, confirmed on native RGB and all32 sampled times. Add torso positives; preserve sleeve, face, forearm, hand and bracelet. Explicit negatives exclude static blue backdrop and floor. Proposal only; no owner acceptance. V1 preview still omitted much of the black torso and bracelet. Add native-reviewed torso and bracelet positive points; no blanket mask filling.",
+      "supersede": true
+    }
+  ],
+  "notes": "V2 response to inspected V1 preview, including owner whole-person accessory requirement. Not yet applied or owner accepted."
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_prompts_c6a_v1.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_prompts_c6a_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d55416194190290555e2131d859a98264ec6792
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/proposal_prompts_c6a_v1.json
@@ -0,0 +1,180 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "17736741",
+      "instance": "object",
+      "t": 0,
+      "points": [
+        [
+          1004,
+          501
+        ],
+        [
+          1082,
+          527
+        ],
+        [
+          1102,
+          602
+        ],
+        [
+          1063,
+          691
+        ],
+        [
+          982,
+          749
+        ],
+        [
+          920,
+          744
+        ],
+        [
+          870,
+          616
+        ],
+        [
+          990,
+          620
+        ],
+        [
+          827,
+          712
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        852,
+        490,
+        1113,
+        759
+      ],
+      "note": "Draft exact native t=0 orange round-belt pixels only, including visible dark seam; exclude interior table, hand and shadow."
+    },
+    {
+      "serial": "17736741",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
+        [
+          695,
+          640
+        ],
+        [
+          802,
+          703
+        ],
+        [
+          892,
+          708
+        ],
+        [
+          860,
+          764
+        ],
+        [
+          766,
+          651
+        ],
+        [
+          618,
+          615
+        ],
+        [
+          950,
+          751
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        633,
+        589,
+        935,
+        806
+      ],
+      "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and orange belt."
+    },
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          23,
+          75
+        ],
+        [
+          105,
+          430
+        ],
+        [
+          400,
+          535
+        ],
+        [
+          695,
+          640
+        ],
+        [
+          802,
+          703
+        ],
+        [
+          990,
+          620
+        ],
+        [
+          580,
+          850
+        ],
+        [
+          520,
+          725
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        0,
+        0,
+        938,
+        809
+      ],
+      "note": "Draft whole visible person, including clothing, head where visible, bare right arm/hand, bracelet and any visible nonparticipating left hand; exclude table, robot and belt."
+    },
+    {
+      "serial": "17736741",
+      "instance": "hand_B",
+      "t": 0,
+      "absence_stop": 486,
+      "note": "Draft: no participating left hand in this one-hand interaction. Any visible nonparticipating left hand belongs only to occluder."
+    }
+  ]
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..a4e18a1a24d1f6373999397c15e52da12c4cc138
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a.log
@@ -0,0 +1,4 @@
+17736741/object t=0: 9570 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_overlays_c6a_v1/17736741/object_t0000.png
+17736741/hand_A t=0: 25930 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_overlays_c6a_v1/17736741/hand_A_t0000.png
+17736741/occluder t=0: 131393 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_overlays_c6a_v1/17736741/occluder_t0000.png
+17736741/hand_B t=0: 0 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_overlays_c6a_v1/17736741/hand_B_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e33eaa6397b9853f2ebaff65213107a8b9aa45d
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_argv.json
@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_prompts_c6a_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_overlays_c6a_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9522ead5dc5dee75fc57ba8272eea07715c10d17
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 9.049596786499023,
+  "started_unix": 1793130045.1043057,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v3.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v3.log
new file mode 100644
index 0000000000000000000000000000000000000000..449f4eb48e4292659b8ecbee2d20baf860ee482b
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v3.log
@@ -0,0 +1 @@
+17736741/occluder t=0: 178127 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_overlays_c6a_sparse_v3/17736741/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v3_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v3_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..8152eb2431e77a2c8ea27e2e23d845bd877cc788
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v3_argv.json
@@ -0,0 +1,19 @@
+[
+  "/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_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_corrections_c6a_sparse_v3.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_overlays_c6a_sparse_v3",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v3_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v3_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4548deb59b7aa8f9cc1a1b6e1de9078205b26cb4
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v3_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.441881418228149,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v4.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v4.log
new file mode 100644
index 0000000000000000000000000000000000000000..cfc48b7d9069efab2a7a96b2bcdd365f9cabb583
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v4.log
@@ -0,0 +1 @@
+17736741/occluder t=0: 178916 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_overlays_c6a_sparse_v4/17736741/occluder_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v4_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v4_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..04e42b842882c51dae4169f405552097ff5da269
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v4_argv.json
@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/proposal_corrections_c6a_sparse_v4.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/correction_overlays_c6a_sparse_v4",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v4_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v4_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ac7b78f0e8b3db10a2fdd21459978f5ef6879be
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/propose_c6a_sparse_v4_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.541323661804199,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/recovery_admission.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/recovery_admission.json
new file mode 100644
index 0000000000000000000000000000000000000000..932d712f384afdf651ee9b84194eccfd0fc7a6b3
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/recovery_admission.json
@@ -0,0 +1,34 @@
+{
+  "completed_before_resume": [
+    {
+      "serial": "17736741",
+      "role": "object",
+      "supplier_runs": [
+        1
+      ]
+    },
+    {
+      "serial": "17736741",
+      "role": "hand_A",
+      "supplier_runs": [
+        1
+      ]
+    },
+    {
+      "serial": "17736741",
+      "role": "hand_B",
+      "supplier_runs": [
+        1
+      ]
+    },
+    {
+      "serial": "17736741",
+      "role": "occluder",
+      "supplier_runs": [
+        1
+      ]
+    }
+  ],
+  "full_current_mask_admission": true,
+  "owner_accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review-media_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review-media_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..d2262f078bb607b41fa412c2cb61fdbd1c9660f4
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review-media_c6a.log
@@ -0,0 +1 @@
+Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_v1
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review-media_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review-media_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b8270d498b133afe9a755e90058e2c37b53bc29
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review-media_c6a_argv.json
@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_v1",
+  "--view",
+  "17736741",
+  "--t",
+  "0",
+  "--t",
+  "121",
+  "--t",
+  "243",
+  "--t",
+  "364",
+  "--t",
+  "485"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review-media_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review-media_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b324754ab9036f609b0f961f23488ce1a20830
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review-media_c6a_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 113.95057821273804,
+  "started_unix": 1793130193.471054,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v3.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v3.log
new file mode 100644
index 0000000000000000000000000000000000000000..5235b4167f13b5f04736660af37d0fa2d758e1df
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v3.log
@@ -0,0 +1 @@
+Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v3
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v3_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v3_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4dba7c13a9a16488d3025434b7681853bc6cae4
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v3_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",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v3",
+  "--view",
+  "17736741",
+  "--t",
+  "0",
+  "--t",
+  "121",
+  "--t",
+  "243",
+  "--t",
+  "364",
+  "--t",
+  "485"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v3_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v3_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c641e8bc7a998590dc461ba1c45bbdc5ee8d43f
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v3_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 65.59233903884888,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v4.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v4.log
new file mode 100644
index 0000000000000000000000000000000000000000..96a9d5d706eda0f6d0684e9cacadbcc0ec0d1d2f
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v4.log
@@ -0,0 +1 @@
+Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v4
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v4_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v4_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d2067f689259961060b797b6a9694ca19d01c53
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v4_argv.json
@@ -0,0 +1,29 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/review_media_c6a_sparse_v4",
+  "--view",
+  "17736741",
+  "--instance",
+  "occluder",
+  "--t",
+  "0",
+  "--t",
+  "121",
+  "--t",
+  "243",
+  "--t",
+  "364",
+  "--t",
+  "485"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v4_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v4_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa75b839f6d49ce6c637c70dc1eb16f600f430f8
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/review_c6a_sparse_v4_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 39.30550527572632,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/window_command.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/window_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dfbd348b35bd4ef46770ded8a2a4ae19ec6fa0a
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/17736741/window_command.json
@@ -0,0 +1,22 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_annotate_converted_session_window.py",
+  "--session-path",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--anchor-serial",
+  "17736741",
+  "--start-timestamp-ns",
+  "1790045899153567456",
+  "--end-timestamp-ns",
+  "1790045915377715513",
+  "--expected-visible-hands-or-arms",
+  "1",
+  "--object-description",
+  "taped round belt",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Fingertips reach the near end of the loop ~296-300 (12933256: fingertips above loop at 296-298, touching at 300-302; anchor: fingers over loop end from 296). 302 = first frame with contact confirmed in both opposing views. Single fist/pinch grip on the same end persists through lift (~360-420), hanging carry (~420-530), hand tilt and lowering (~530-560), compression of the loop against the table (~560-632, loop flattened under the fist), re-lift (~640-720), set-down (~744-776) and hold on table. Release: anchor 787 fingers start extending, 12933256 788 (=anchor 787) fingers open; 786 = last held frame.",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/17736741/phystwin_window.yaml"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..38e0cc4d9f3adaa7496cd5e1b92447d590ba32b2
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json
@@ -0,0 +1,114 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_225744_574043",
+    "window_sha256": "00bf8928dea9aa20a7db92ae924b4d2483cd68bbc48cf6314a72762fd49b6924",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      302,
+      788
+    ],
+    "anchor_time_ns_first_last": [
+      1790045899140610717,
+      1790045915397045427
+    ]
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 302,
+    "converted_frame_index": 302,
+    "official_frame_index": 302,
+    "native_container_frame_index": 303,
+    "view_time_ns": 1790045899140610717
+  },
+  "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": [
+    [
+      1144.0,
+      365.0
+    ],
+    [
+      1075.0,
+      408.0
+    ],
+    [
+      1001.0,
+      440.0
+    ],
+    [
+      1011.0,
+      467.0
+    ],
+    [
+      1104.0,
+      390.0
+    ],
+    [
+      1184.0,
+      355.0
+    ],
+    [
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+}
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/annotations/prompts/23007103/hand_B/t0000_v01.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/annotations/prompts/23007103/hand_B/t0000_v01.json
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+  "labels": [],
+  "box_uv": null,
+  "source": "agent:c6a_20261027",
+  "note": "Draft: no participating left hand in this one-hand interaction. Any visible nonparticipating left hand belongs only to occluder.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
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+  "seed_mask_sha256": "f797225db612204d6212b59cd90b048737f10a2eb3ea71ae7c8249c2b3b7ebcc",
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+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
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+    "sam2_git": {
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+    "device": "cuda",
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+}
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+    "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_c6a_lab_input_preparation_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
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+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-27T19:43:24Z"
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/annotations/prompts/23007103/occluder/t0000_v01_seed_mask.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/annotations/prompts/23007103/occluder/t0000_v01_seed_mask.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/inspect.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/inspect.log
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+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/inspect.log
@@ -0,0 +1 @@
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/inspection/inspection.json
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/inspect_command.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/inspect_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..723e994d85e734d61118a83dcb7d9a4e4fa050ae
--- /dev/null
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@@ -0,0 +1,15 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "inspect",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--window",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/phystwin_window.yaml",
+  "--frame-association",
+  "anchor_nearest",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/inspection",
+  "--sample-t",
+  "0"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/inspection/frames.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/inspection/frames.npz
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+    "sync_clock": "sync_time_ns (host_unix_time_ns)",
+    "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",
+      "candidate_pose_set_name": "fixed020_movable1",
+      "world_T_camera_bundle": "world_T_camera_by_serial.npz",
+      "world_T_camera_bundle_sha256": "2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5"
+    }
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+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/masks/23007103/hand_A/run0001_t0000-0486.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/masks/23007103/hand_A/run0001_t0000-0486.npz
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+size 471783
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/masks/23007103/hand_B/run0001_t0000-0486.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/masks/23007103/hand_B/run0001_t0000-0486.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/masks/23007103/occluder/run0001_t0000-0486.npz b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/masks/23007103/occluder/run0001_t0000-0486.npz
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diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/phystwin_window.yaml b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/phystwin_window.yaml
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index 0000000000000000000000000000000000000000..4a08e90166f93452b752fb8da4f83f7546654d3a
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/phystwin_window.yaml
@@ -0,0 +1,88 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043
+  session_id: session_20260921_225744_574043
+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_225744_574043
+    --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: '23007103'
+  anchor_stream_id: zed_23007103_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33451067
+  fps_estimate: 29.894413
+manual_annotation:
+  start_global_timestamp_ns: 1790045899140610717
+  end_global_timestamp_ns: 1790045915397045427
+  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: taped round belt
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Fingertips reach the near end of the loop ~296-300 (12933256: fingertips
+    above loop at 296-298, touching at 300-302; anchor: fingers over loop end from
+    296). 302 = first frame with contact confirmed in both opposing views. Single
+    fist/pinch grip on the same end persists through lift (~360-420), hanging carry
+    (~420-530), hand tilt and lowering (~530-560), compression of the loop against
+    the table (~560-632, loop flattened under the fist), re-lift (~640-720), set-down
+    (~744-776) and hold on table. Release: anchor 787 fingers start extending, 12933256
+    788 (=anchor 787) fingers open; 786 = last held frame.'
+resolved_window:
+  start_sync_index: 302
+  end_sync_index_exclusive: 788
+  start_anchor_timestamp_ns: 1790045899140610717
+  end_anchor_timestamp_ns: 1790045915397045427
+  frame_count: 486
+  duration_s: 16.256435
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 787
+    start_source_timestamp_ns: 1790045899156119938
+    end_source_timestamp_ns: 1790045915380481963
+    start_delta_ns: 15509221
+    end_delta_ns: -16563464
+  '12933256':
+    start_source_frame_index: 301
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899133315892
+    end_source_timestamp_ns: 1790045915390452283
+    start_delta_ns: -7294825
+    end_delta_ns: -6593144
+  '17736741':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 789
+    start_source_timestamp_ns: 1790045899153567456
+    end_source_timestamp_ns: 1790045915411121704
+    start_delta_ns: 12956739
+    end_delta_ns: 14076277
+  '23007103':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899140610717
+    end_source_timestamp_ns: 1790045915397045427
+    start_delta_ns: 0
+    end_delta_ns: 0
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16563464
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:21:26+00:00'
+updated_at: '2026-10-27T19:21:26+00:00'
+
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propagate_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propagate_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..44bf68e4fc61ea35a669fecb5d105b8cb69ddaa5
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propagate_c6a.log
@@ -0,0 +1,10 @@
+
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/masks/23007103/object/run0001_t0000-0486.npz
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/masks/23007103/hand_A/run0001_t0000-0486.npz
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/masks/23007103/hand_B/run0001_t0000-0486.npz
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+
propagate in video: 0it [00:00, ?it/s]
propagate in video: 0it [00:00, ?it/s]
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/masks/23007103/occluder/run0001_t0000-0486.npz
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propagate_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propagate_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a8a717ae1358ebe6e5fcedc5e8dda719114140
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propagate_c6a_argv.json
@@ -0,0 +1,25 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/masks",
+  "--view",
+  "23007103",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "486",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a first proposal; pending owner mask/window decisions"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propagate_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propagate_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d827607d6c14f552d5d632ec6ce7e47d6f6e23de
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propagate_c6a_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 176.07272744178772,
+  "started_unix": 1793130205.3098218,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/proposal_prompts_c6a_v1.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/proposal_prompts_c6a_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd54e4a9fec008abb95f6c4c553a1ea999ea4dad
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/proposal_prompts_c6a_v1.json
@@ -0,0 +1,185 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "23007103",
+      "instance": "object",
+      "t": 0,
+      "points": [
+        [
+          1044,
+          478
+        ],
+        [
+          1143,
+          509
+        ],
+        [
+          1205,
+          565
+        ],
+        [
+          1185,
+          605
+        ],
+        [
+          1084,
+          597
+        ],
+        [
+          1004,
+          555
+        ],
+        [
+          985,
+          510
+        ],
+        [
+          1090,
+          540
+        ],
+        [
+          1033,
+          431
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        976,
+        466,
+        1216,
+        617
+      ],
+      "note": "Draft exact native t=0 orange round-belt pixels only, including visible dark seam; exclude interior table, hand and shadow."
+    },
+    {
+      "serial": "23007103",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
+        [
+          1144,
+          365
+        ],
+        [
+          1075,
+          408
+        ],
+        [
+          1001,
+          440
+        ],
+        [
+          1011,
+          467
+        ],
+        [
+          1104,
+          390
+        ],
+        [
+          1184,
+          355
+        ],
+        [
+          1042,
+          477
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        979,
+        332,
+        1182,
+        481
+      ],
+      "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and orange belt."
+    },
+    {
+      "serial": "23007103",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          1500,
+          19
+        ],
+        [
+          1420,
+          178
+        ],
+        [
+          1259,
+          286
+        ],
+        [
+          1144,
+          365
+        ],
+        [
+          1075,
+          408
+        ],
+        [
+          1518,
+          267
+        ],
+        [
+          1090,
+          540
+        ],
+        [
+          1205,
+          470
+        ],
+        [
+          850,
+          365
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        978,
+        0,
+        1719,
+        484
+      ],
+      "note": "Draft whole visible person, including clothing, head where visible, bare right arm/hand, bracelet and any visible nonparticipating left hand; exclude table, robot and belt."
+    },
+    {
+      "serial": "23007103",
+      "instance": "hand_B",
+      "t": 0,
+      "absence_stop": 486,
+      "note": "Draft: no participating left hand in this one-hand interaction. Any visible nonparticipating left hand belongs only to occluder."
+    }
+  ]
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propose_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propose_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..f0fcff591ce3074223100d953d10ded85d9cfef3
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propose_c6a.log
@@ -0,0 +1,4 @@
+23007103/object t=0: 6181 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/proposal_overlays_c6a_v1/23007103/object_t0000.png
+23007103/hand_A t=0: 10681 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/proposal_overlays_c6a_v1/23007103/hand_A_t0000.png
+23007103/occluder t=0: 132194 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/proposal_overlays_c6a_v1/23007103/occluder_t0000.png
+23007103/hand_B t=0: 0 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/proposal_overlays_c6a_v1/23007103/hand_B_t0000.png
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propose_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propose_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..6efa361033ee8f5ff72e730582b9331ebaecbe1a
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propose_c6a_argv.json
@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/proposal_prompts_c6a_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/proposal_overlays_c6a_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propose_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propose_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eb77ddcf98fe6800e90a6cebb5364d5fcb4083f
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/propose_c6a_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 11.837695837020874,
+  "started_unix": 1793130193.4718978,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/review-media_c6a.log b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/review-media_c6a.log
new file mode 100644
index 0000000000000000000000000000000000000000..55dae872d33050e7483d087530c8dba0f90af82f
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/review-media_c6a.log
@@ -0,0 +1 @@
+Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/review_media_c6a_v1
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/review-media_c6a_argv.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/review-media_c6a_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..54d17a6a59958e15aadd0e2d90e49f6c345988b1
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/review-media_c6a_argv.json
@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/review_media_c6a_v1",
+  "--view",
+  "23007103",
+  "--t",
+  "0",
+  "--t",
+  "121",
+  "--t",
+  "243",
+  "--t",
+  "364",
+  "--t",
+  "485"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/review-media_c6a_result.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/review-media_c6a_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89f83ac10fdb4e30d06828d4f4fe84549aff939
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/review-media_c6a_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 93.11276984214783,
+  "started_unix": 1793130381.382961,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/window_command.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/window_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..201c5d67cb139c35d8ed389796deb011e6ac0d3e
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/cameras/23007103/window_command.json
@@ -0,0 +1,22 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_annotate_converted_session_window.py",
+  "--session-path",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--anchor-serial",
+  "23007103",
+  "--start-timestamp-ns",
+  "1790045899140610717",
+  "--end-timestamp-ns",
+  "1790045915397045427",
+  "--expected-visible-hands-or-arms",
+  "1",
+  "--object-description",
+  "taped round belt",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Fingertips reach the near end of the loop ~296-300 (12933256: fingertips above loop at 296-298, touching at 300-302; anchor: fingers over loop end from 296). 302 = first frame with contact confirmed in both opposing views. Single fist/pinch grip on the same end persists through lift (~360-420), hanging carry (~420-530), hand tilt and lowering (~530-560), compression of the loop against the table (~560-632, loop flattened under the fist), re-lift (~640-720), set-down (~744-776) and hold on table. Release: anchor 787 fingers start extending, 12933256 788 (=anchor 787) fingers open; 786 = last held frame.",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/cameras/23007103/phystwin_window.yaml"
+]
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/phystwin_window.yaml b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/phystwin_window.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ac629205eeb87d5d20805c675cb4aa93c0f65360
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/phystwin_window.yaml
@@ -0,0 +1,88 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043
+  session_id: session_20260921_225744_574043
+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_225744_574043
+    --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: 33442400
+  fps_estimate: 29.90216
+manual_annotation:
+  start_global_timestamp_ns: 1790045899156119938
+  end_global_timestamp_ns: 1790045915380481963
+  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: taped round belt
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Fingertips reach the near end of the loop ~296-300 (12933256: fingertips
+    above loop at 296-298, touching at 300-302; anchor: fingers over loop end from
+    296). 302 = first frame with contact confirmed in both opposing views. Single
+    fist/pinch grip on the same end persists through lift (~360-420), hanging carry
+    (~420-530), hand tilt and lowering (~530-560), compression of the loop against
+    the table (~560-632, loop flattened under the fist), re-lift (~640-720), set-down
+    (~744-776) and hold on table. Release: anchor 787 fingers start extending, 12933256
+    788 (=anchor 787) fingers open; 786 = last held frame.'
+resolved_window:
+  start_sync_index: 301
+  end_sync_index_exclusive: 786
+  start_anchor_timestamp_ns: 1790045899156119938
+  end_anchor_timestamp_ns: 1790045915380481963
+  frame_count: 485
+  duration_s: 16.224362
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 787
+    start_source_timestamp_ns: 1790045899156119938
+    end_source_timestamp_ns: 1790045915380481963
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '12933256':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899166424200
+    end_source_timestamp_ns: 1790045915390452283
+    start_delta_ns: 10304262
+    end_delta_ns: 9970320
+  '17736741':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899153567456
+    end_source_timestamp_ns: 1790045915377715513
+    start_delta_ns: -2552482
+    end_delta_ns: -2766450
+  '23007103':
+    start_source_frame_index: 302
+    end_source_frame_index_exclusive: 788
+    start_source_timestamp_ns: 1790045899140610717
+    end_source_timestamp_ns: 1790045915397045427
+    start_delta_ns: -15509221
+    end_delta_ns: 16563464
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16563464
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:20:07+00:00'
+updated_at: '2026-10-27T19:20:07+00:00'
+
diff --git a/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/window_command.json b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/window_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..92571142d5eafc5aa6659d81c7c93d7f8d2b149f
--- /dev/null
+++ b/sessions/session_20260921_225744_574043/preprocessing/mask-supplier-window-anchor0302-0786/native/window_command.json
@@ -0,0 +1,22 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_annotate_converted_session_window.py",
+  "--session-path",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_225744_574043",
+  "--anchor-serial",
+  "12540311",
+  "--start-timestamp-ns",
+  "1790045899156119938",
+  "--end-timestamp-ns",
+  "1790045915380481963",
+  "--expected-visible-hands-or-arms",
+  "1",
+  "--object-description",
+  "taped round belt",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Fingertips reach the near end of the loop ~296-300 (12933256: fingertips above loop at 296-298, touching at 300-302; anchor: fingers over loop end from 296). 302 = first frame with contact confirmed in both opposing views. Single fist/pinch grip on the same end persists through lift (~360-420), hanging carry (~420-530), hand tilt and lowering (~530-560), compression of the loop against the table (~560-632, loop flattened under the fist), re-lift (~640-720), set-down (~744-776) and hold on table. Release: anchor 787 fingers start extending, 12933256 788 (=anchor 787) fingers open; 786 = last held frame.",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_225744_574043/window_anchor0302-0786/phystwin_window.yaml"
+]