sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1: payload batch 4/4

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/mech_center_ribbon_argv.json

@@ -0,0 +1,14 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/mech_center_ribbon_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 317.24157816299703
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision.log

@@ -0,0 +1,44 @@
+{
+ "populations": {
+  "P_chamfer_targets": 6897,
+  "genuine_t_pairs": 1598,
+  "N": 1598,
+  "S": 1686,
+  "A": 1686,
+  "added_surface": 88,
+  "interior": 0,
+  "controls": 30,
+  "controls_by_hand": {
+   "hand_A": 30
+  }
+ },
+ "initialization_groups": {
+  "initialized_original": 1598,
+  "in_band_not_initialized": 5260,
+  "outside_initial_band": 39
+ },
+ "denominators": {
+  "D_C": 6594,
+  "D_T": 1426,
+  "rule": "RT-S2, fixed for the whole run; C/T weights unchanged"
+ },
+ "graph": {
+  "object_springs": 27956,
+  "controller_springs": 933,
+  "object_rest_min_max_m": [
+   0.00011439211084507406,
+   0.01746782287955284
+  ],
+  "controller_rest_min_max_m": [
+   0.005286248866468668,
+   0.039989762008190155
+  ],
+  "isolated_object_nodes": 0,
+  "attached_object_nodes": 95,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 933
+  }
+ },
+ "passed": true
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json

@@ -0,0 +1,14 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 237.48402434700984
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/mech_ribbon_argv.json

@@ -0,0 +1,34 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232822_920324",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "0b2c30e43fe3c27022b0737fc9553f38481d0f46e79a59e33b5b604e160b54a9",
+    "--accepted-prior-manifest-sha256",
+    "a11889c5de49c64f3008f810ded1e5eb8d8e9eefdbbf9a44b421c1917e504c2b",
+    "--participating-hand",
+    "hand_A",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/prior_timing_v1",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/mech_ribbon_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 432.152474661998
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json

@@ -0,0 +1,38 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232822_920324",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "0b2c30e43fe3c27022b0737fc9553f38481d0f46e79a59e33b5b604e160b54a9",
+    "--accepted-prior-manifest-sha256",
+    "a11889c5de49c64f3008f810ded1e5eb8d8e9eefdbbf9a44b421c1917e504c2b",
+    "--participating-hand",
+    "hand_A",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1/mesh/binding.json",
+    "--premesh-fitting",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/rt3_lifts/fitting",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 490.37586515399744
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md

@@ -0,0 +1,59 @@
+# session_20260921_232822_920324 — prior approval pending
+
+Saved C2 **grey_timing_belt** prior evidence (width 25.00 mm, zero-thickness surface). **Agent visual and numerical review is complete; owner initial-prior approval remains pending.** The initial ribbon is ready for owner review with the geometry and measurement limitations below. This packet records no acceptance or full-sequence physical-fit clearance.
+
+Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](<prior_metrics.json>).
+
+| Camera | Local / converted / native | Centerline / geometry / native input |
+|---|---|---|
+| 12540311 | 0 / 331 / 332 | [centerline](<../prior_timing_v1/review/spline/centerline_0_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 0 / 332 / 333 | [centerline](<../prior_timing_v1/review/spline/centerline_1_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_1_12933256.png>) |
+| 17736741 | 0 / 333 / 334 | [centerline](<../prior_timing_v1/review/spline/centerline_2_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_2_17736741.png>) |
+| 23007103 | 0 / 333 / 334 | [centerline](<../prior_timing_v1/review/spline/centerline_3_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_timing_v1/review/ribbon/orbit.mp4>) · [Geometry and depth cloud](<../prior_timing_v1/review/ribbon/ribbon_scale_views.png>) · [Residual histograms](<../prior_timing_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_timing_v1/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **665.637 mm**, maximum curvature **13.758/m**, final gradient norm **1.22393e-07**. Soft length bounds are 664.000–666.000 mm; distance outside those bounds is 0.000 mm.
+
+The timing prior has a separate stage 2 with the centerline frozen: **10 twist iterations**, saved success `True`, stop `CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH`. [Twist and width directions](<../prior_timing_v1/review/ribbon/twist_and_width_direction.png>).
+
+Saved geometry checks report `passed=True`: **450 mesh vertices / 720 triangles**, 1 component(s), `watertight=False`, `self_intersecting=False`. [Full geometry checks](<../prior_timing_v1/ribbon/ribbon_checks.json>).
+
+The following 3D residuals are lifted-depth point distances to the **ribbon surface**, not measured reconstruction errors. The fraction of visible projected ribbon surface samples inside the mask is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision.
+
+| Camera | Median / p90 3D residual (mm) | Visible ribbon surface inside mask | Native depth and visibility evidence |
+|---|---|---|---|
+| 12540311 | 2.956 / 5.898 | 97.08% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) |
+| 12933256 | 1.527 / 4.020 | 94.61% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) |
+| 17736741 | 2.579 / 5.576 | 97.64% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) |
+| 23007103 | 4.208 / 7.776 | 96.53% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) |
+
+The saved statistical filter used 20 neighbours / 2 sigma and kept **42303 of 43751** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **42303 observed + 21600 mesh-derived = 63903 seeds**. Vertex colors are observed for 429 mesh vertices and median-filled for 21. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages.
+
+[Appearance seed populations](<../prior_timing_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_timing_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>)
+
+[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>)
+
+[Manifest](<../prior_timing_v1/manifest.json>) · [Fit settings and metrics](<../prior_timing_v1/steps/fit.json>) · [Reference observations](<../prior_timing_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+**Agent findings.** All **22** initial-input, centerline, ribbon-silhouette, spatial/depth, residual, color, hybrid and twist images were inspected, together with orbit frames **0, 4, 8, 13, 17, 21, 26, 30 and 35 of 36**. These were direct selected-frame reads, with no continuous-playback or full-decode claim. [Exact findings and coverage](<agent_findings.json>).
+
+The initial object is one upright grey loop with a single **hand_A** contact. Its visible contour and width are coherent across all four views. The ribbon overlays follow the visible band; small local edge offsets remain beside the hand on the left contour in **17736741** and along the foreground contour in **23007103**. No gross loop displacement, width flip, collapse or self-crossing was seen. The twist plot and sampled orbit show continuous modest tilt: dense sampled twist spans **−0.083135 to 0.070775 rad**, with mean absolute width-direction z **0.995753**. The orbit shows sampled vertices; topology is established by the saved mesh checks.
+
+**The open geometry is intentional:** **450 vertices / 720 triangles**, one consistently wound annulus, two **90-edge width boundaries**, no self-intersections or degenerate triangles, and watertight=False. Width is fixed at **25 mm**, with zero thickness and no tooth geometry or interior particles. The hand-hidden segment and **21 median-filled vertex colors** remain inferred; colors are observed for **429 vertices**.
+
+**The two fit stages remain distinct.** Stage 1 used the approved centerline-mask approximation and retained its single last round, stopping at gradient tolerance with norm **2.052388e-4**. Stage 2 froze those centerline control points exactly and refined nine twist knots using corrected Q12 surface distance, the weight-4 two-sided surface mask term and the approved twist-rate penalty. It retained the last iterate after **10 iterations / 65 evaluations**, success=True, with stop CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH and **zero bound knots**. Raw knots are bounded by **±3.451392**, corresponding to physical twist within **±0.8π**. The twist-rate p90/max is **1.877 / 2.204 rad/m**, below the soft 10/m threshold; its saved penalty is zero. The reported final gradient belongs to stage 2. Stage total losses are not directly comparable because the mask objectives differ; solver success does not establish global optimality or torsional stiffness.
+
+Length is **665.636718 mm**, inside the **664–666 mm** soft bounds and **0.363290 mm below the upper bound**; the saved within-1-mm flag is true. Maximum curvature is **13.758/m**, with **43.6%** of samples above the soft 10/m threshold. Minimum/maximum ribbon z are **−2.920 / 24.479 mm** relative to nominal table z=0. Belt-interior-minus-local-table medians are **16.214 / 11.289 / 13.217 / 14.086 mm** by camera order. Spatial and hybrid plots show nearby contour bands and vertical spread around the fitted surface. No depth correction was applied; table contact remains uncertain.
+
+**Residual and coverage interpretation:** visible projected ribbon-surface samples inside the mask are **97.08 / 94.61 / 97.64 / 96.53%**, not centerline coverage or silhouette IoU. The preserved residual histogram inherits the axis label “centerline residual”; its actual values are **ribbon-surface distances**, checked against the stored arrays and final report. Camera **23007103** has the largest median/p90 distances, **4.208 / 7.776 mm**; **0.682%** of its retained points exceed 10 mm. A close image-plane overlay does not establish depth accuracy.
+
+The [completed temporal-reference review](<../review_v1/REVIEW.md>) retains a separate later-sequence limitation: at **sample 406**, camera **23007103** has **35 of 378 visible points** farther than 40 mm from the nearest visible other-camera point, with maximum **192.647 mm**. The worst point is visible but invalid for both adjacent motion transitions; another tail point retains outgoing motion support. The initial sample had no such >40 mm tail and a **13.807 mm** maximum; the last sampled frame had **22.826 mm** maximum. These measured cross-view distances are diagnostics, not ground-truth errors. The initial prior does not repair or clear the later temporal geometry. The existing controller gate has **30 hand_A controls**, maximum initial distance **39.823 mm**; hand_B is absent.
+
+Owner initial-prior approval remains pending. No scientific payload, source settings, global case status or downstream approval was changed. The **63,903 appearance seeds** are separate from mechanical particles; this packet assesses no trained appearance, post-prior mechanical population, unit-mass total or physical-fit result.
+
+## Owner decision, 2026-10-28
+
+The owner accepted this exact initial prior for surface-only mechanical preparation and reference static appearance. The limitations above remain retained. The agent review above predates this decision; trained appearance acceptance and physical fitting remain separate.

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json

@@ -0,0 +1,826 @@
+{
+  "case": "session_20260921_232822_920324/window_anchor0331-0765",
+  "reviewed_at_utc": "2026-10-28T21:27:12.908896+00:00",
+  "review_kind": "bounded agent review of the saved initial 25 mm timing-ribbon prior",
+  "readiness": "ready_for_owner_initial_prior_review_with_recorded_geometry_and_measurement_limitations",
+  "blocking_findings_for_initial_prior": [],
+  "owner_prior_approval": "pending; this record grants no owner acceptance or downstream authorization",
+  "scope": {
+    "goal": "Review the saved initial ribbon under the owner-approved Q1/Q7-Q12 two-stage recipe.",
+    "done_when": "22 initial-prior panels, nine orbit frames and saved two-stage, geometry, residual, color and hybrid evidence inspected; limitations recorded.",
+    "non_goals": [
+      "No scientific rerun or modified settings",
+      "No thickness or interior particles",
+      "No source/global-status/acceptance changes",
+      "No trained appearance or physical fitting"
+    ],
+    "validation": "All eight prior stages, one packaging invocation and saved-array/orbit preparation succeeded. Frozen centerline, last-iterate identity, residual arrays, packet labels and links checked."
+  },
+  "source_code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "completion": {
+    "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "phase": "prior",
+    "completed_utc": "2026-10-28T21:18:08.472542+00:00"
+  },
+  "stage_results": {
+    "inputs": {
+      "returncode": 0,
+      "wall_seconds": 32.84141993522644,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "diagnose_depth": {
+      "returncode": 0,
+      "wall_seconds": 1.5490412712097168,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "fit": {
+      "returncode": 0,
+      "wall_seconds": 66.42626452445984,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "ribbon": {
+      "returncode": 0,
+      "wall_seconds": 5.118502855300903,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "colors": {
+      "returncode": 0,
+      "wall_seconds": 2.60832142829895,
+      "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+    },
+    "hybrid": {
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+          "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/prior_timing_v1/review/inputs/view_2_17736741.png",
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+          "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/review_v1/17736741/paired_depth.png"
+        }
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+            "hand_B": 0
+          },
+          "tap_visible_fraction_min_mean_max": [
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+            0.9459071264367817,
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+          "accepted_object_min_max": [
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+          "paired_common_min_max": [
+            2171,
+            4368
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+        },
+        "links": {
+          "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/prior_timing_v1/review/spline/centerline_3_with_masks.png",
+          "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_3_unmasked.png",
+          "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/prior_timing_v1/review/ribbon/silhouette_3_with_masks.png",
+          "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/prior_timing_v1/review/inputs/view_3_23007103.png",
+          "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/review_v1/23007103/rgb_waft_depth_full_window.mp4",
+          "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/review_v1/23007103/23007103_visibility_certainty.png",
+          "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/review_v1/23007103/support_and_rejections.png",
+          "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/review_v1/23007103/paired_depth.png"
+        }
+      }
+    ],
+    "appearance_seeds": {
+      "observed": 42303,
+      "mesh": 21600,
+      "total": 63903,
+      "mesh_to_observed": 0.5106020849585136
+    },
+    "vertex_colors": {
+      "observed_vertices": 429,
+      "filled_vertices": 21
+    },
+    "mechanical_population": {
+      "particle_count": null,
+      "total_unit_mass": null,
+      "status": "not produced by the prior run; no post-prior mechanics are evaluated here"
+    }
+  },
+  "saved_array_checks": {
+    "stage1_final_centerline_controls_equal": true,
+    "control_shape": [
+      9,
+      4
+    ],
+    "all_controls_finite": true,
+    "stage1_last_round_matches_record": true,
+    "final_raw_theta_matches_last_trajectory": true,
+    "serialized_float32_raw_theta_matches_final": true,
+    "last_twist_iteration": 10,
+    "last_twist_loss": 1.1125985110993497e-05,
+    "reported_final_loss": 1.1125985110993497e-05,
+    "last_trajectory_minus_reported_loss": 0.0,
+    "trajectory_loss_note": "Compare retained knots directly; JIT/non-JIT objective evaluation may differ at float32 rounding scale.",
+    "all_residual_arrays_finite": true,
+    "surface_residual_count": 42303,
+    "saved_surface_residual_mean_m": 0.002945967965755432,
+    "fraction_above_10mm": 0.002907595206013758,
+    "per_view_recomputed": {
+      "0": {
+        "n": 9620,
+        "median_m": 0.002955671981908381,
+        "p90_m": 0.005897692404687405,
+        "max_m": 0.011453804560005665,
+        "fraction_above_10mm": 0.0008316008316008316,
+        "median_and_p90_match_report": true
+      },
+      "1": {
+        "n": 13090,
+        "median_m": 0.001527400512713939,
+        "p90_m": 0.004019656637683512,
+        "max_m": 0.009406793862581253,
+        "fraction_above_10mm": 0.0,
+        "median_and_p90_match_report": true
+      },
+      "2": {
+        "n": 10056,
+        "median_m": 0.0025791332591325045,
+        "p90_m": 0.005575997522100806,
+        "max_m": 0.012138253077864647,
+        "fraction_above_10mm": 0.004972155926809865,
+        "median_and_p90_match_report": true
+      },
+      "3": {
+        "n": 9537,
+        "median_m": 0.004207869991660118,
+        "p90_m": 0.007775616366416216,
+        "max_m": 0.011057930067181587,
+        "fraction_above_10mm": 0.0068155604487784415,
+        "median_and_p90_match_report": true
+      }
+    },
+    "stage2_same_objective_fraction_reduction": 0.017871658522506263,
+    "distance_below_upper_soft_length_bound_mm": 0.36329030990600586
+  },
+  "observations": [
+    "The initial object is a single upright grey timing-belt loop with one hand_A contact. All four native input panels show a coherent visible contour and band width; the object mask excludes the hand-covered contact and the saved initial object masks have no invalid depth pixels.",
+    "The centerline overlays remain near the visible band, and the ribbon silhouettes follow its width across the four views. Small local edge offsets remain, most visible beside the hand on the left contour in 17736741 and along the foreground contour in 23007103. No gross loop displacement, width flip, collapse or self-crossing was seen.",
+    "The twist plot and nine selected orbit frames show a continuous upright band with modest tilt. Dense sampled theta spans -0.083135 to 0.070775 rad and mean absolute width-direction z is 0.995753. The orbit shows sampled vertices rather than a shaded continuous surface; topology is reported from the saved mesh checks.",
+    "The spatial and hybrid plots show nearby lateral contour bands and vertical depth spread around the fitted surface, with no distant initial component. The largest median/p90 ribbon-surface residuals occur in 23007103, at 4.208/7.776 mm. Close image-plane overlays do not establish depth accuracy.",
+    "Colors are observed for 429 of 450 vertices and median-filled for 21, concentrated mostly at width edges. The hybrid population has 42,303 observed and 21,600 mesh-derived appearance seeds, totaling 63,903."
+  ],
+  "limitations": [
+    "The approved 25 mm zero-thickness ribbon is an open annulus with two intentional width boundaries. Teeth, material thickness and interior particles are absent; the hand-hidden segment remains inferred. Geometric twist does not identify material torsional stiffness.",
+    "Minimum/maximum ribbon z are -2.920/24.479 mm relative to nominal table z=0. Belt-interior-minus-local-table median heights are 16.214, 11.289, 13.217 and 14.086 mm by camera order. No depth correction was applied; nominal table contact and depth spread remain uncertain.",
+    "Length is 665.636718 mm, within the 664-666 mm soft bounds and 0.363290 mm below the upper bound. The within-1-mm flag is true. Maximum curvature is 13.758085/m and 43.6 percent of samples exceed the soft 10/m threshold; these are soft-loss diagnostics.",
+    "Stage 1 retained its one last round, stopping at gradient tolerance with norm 2.052388e-4. Stage 2 froze the centerline exactly and retained the last twist iterate after 10 iterations/65 evaluations, with relative-function-reduction success and zero bound knots. The stages use different mask objectives, so their total losses are not directly comparable. Solver success does not establish global optimality.",
+    "Visible projected ribbon-surface samples inside the mask are 97.08, 94.61, 97.64 and 96.53 percent by camera order. These fractions are neither centerline coverage nor silhouette IoU. The saved residual histogram axis says centerline residual, but the actual values are ribbon-surface distances and match the saved final report.",
+    "This initial-prior review does not clear the full temporal sequence for physical fitting. The existing reference review found a later off-loop tail in camera 23007103 at sample 406: 35 of 378 visible points are more than 40 mm from the nearest visible other-camera point, with maximum 192.647 mm. The worst point is visible but invalid for both adjacent motion transitions; another tail point retains outgoing motion support. These observations remain unchanged and separate from the coherent initial cloud.",
+    "The visual review covers 22 images and nine directly selected orbit frames, without a continuous-playback or full-decode claim. Existing temporal evidence is linked rather than reviewed again. No trained appearance, post-prior mechanical population, total unit-particle mass or physical fit is assessed."
+  ],
+  "reporting_corrections": [
+    "The preserved residual_histograms.png x-axis says centerline residual; the stored values and matching final-fit report establish ribbon-surface distances. No image or scientific payload was changed."
+  ],
+  "temporal_reference_review": {
+    "path": "../review_v1/agent_findings.json",
+    "status": "review_complete_ready_for_initial_prior_with_later_sequence_limitation",
+    "full_sequence_physical_fitting_clearance": false,
+    "sample_406_camera_23007103": {
+      "visible": 378,
+      "count_gt_40mm": 35,
+      "nearest_other_view_mm_p50_p95_max": [
+        10.258436677216608,
+        68.85632416498088,
+        192.64700690955078
+      ],
+      "worst": {
+        "object_index": 1123,
+        "candidate_index": 5199,
+        "query_id": 558,
+        "xyz_m": [
+          0.2678201665027098,
+          0.07372294795036077,
+          -0.0027732954543898624
+        ],
+        "nearest_other_view_mm": 192.64700690955078,
+        "motion_in": false,
+        "motion_out": false
+      }
+    },
+    "controller_gate": {
+      "selected": 30,
+      "hand_A": 30,
+      "hand_B": 0,
+      "maximum_initial_distance_mm": 39.82274516731185
+    },
+    "interpretation": "Later temporal geometry limitation remains separate from the coherent initial cloud; no repair, filtering or clearance is performed here."
+  }
+}

sessions/session_20260921_232822_920324/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json

@@ -0,0 +1,656 @@
+{
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+  "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/prior_timing_v1",
+  "owner_prior_approval": "pending",
+  "visual_quality_assessment": "not performed by this packager",
+  "object": {
+    "name": "grey_timing_belt",
+    "representation": "ribbon",
+    "fitter_source": "spline_estimation.timing_belt_fitting (scratch/test_timing_belt_perception.py)",
+    "dimension_source": "demonstrated 25 mm width; surface only, no interior (corpus Q1, 2026-10-25)",
+    "radius_m": null,
+    "ribbon_width_m": 0.025,
+    "step_t": 0.1,
+    "step_angle_deg": null,
+    "u_resolution": 5,
+    "overlap_rule": null,
+    "twist_penalty": {
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+      "threshold_per_m": 10.0,
+      "huber_per_m": 30.0,
+      "cap_per_m": 80.0,
+      "weight": 5e-08
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+        "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0331-0765/accepted_input_preparation_c6a_v1/review_v1/12540311/paired_depth.png"
+      }
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+        "paired_common_min_max": [
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