sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2: payload batch 1/2

.gitattributes

@@ -853,3 +853,5 @@ sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojectio
 sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/input_case/session_20260921_233248_177244/points3D.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/model/point_cloud/iteration_7000/point_cloud.ply filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/observation.ply filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/colors/color_summary.json

@@ -0,0 +1,49 @@
+{
+  "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
+  "two_sided": false,
+  "depth_tolerance_m": 0.025,
+  "first_hit_tolerance_m": 0.0002,
+  "per_view": [
+    {
+      "view": 0,
+      "serial": "12540311",
+      "observed_vertices": 592,
+      "projected_inside": 1728,
+      "first_hit": 927
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "observed_vertices": 417,
+      "projected_inside": 1728,
+      "first_hit": 914
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "observed_vertices": 617,
+      "projected_inside": 1728,
+      "first_hit": 925
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "observed_vertices": 557,
+      "projected_inside": 1728,
+      "first_hit": 917
+    }
+  ],
+  "observed_vertices": 1037,
+  "filled_vertices": 691,
+  "fill_color_rgb": [
+    0.19215686274509805,
+    0.14901960784313725,
+    0.1404657230738269
+  ],
+  "glb_roundtrip": {
+    "float32_positions_exact": true,
+    "vertex_colors_exact": true,
+    "uv_count": 0,
+    "vertex_reordered_on_open3d_load": true
+  }
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a7d0ac0910ac34436fe019bb1f96edb608f18c639370de3ffa31877c8f1665d
+size 56328

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log

@@ -0,0 +1 @@
+colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/colors.json

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_argv.json

@@ -0,0 +1,12 @@
+{
+  "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/real_rgbd_appearance_spline_prior.py",
+    "colors",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:51:50.944832+00:00"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.5773124219995225,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit.log

@@ -0,0 +1,43 @@
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/fit.json

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_argv.json

@@ -0,0 +1,24 @@
+{
+  "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/real_rgbd_appearance_spline_prior.py",
+    "fit",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2",
+    "--outlier-filter",
+    "statistical:20:2.0",
+    "--max-rounds",
+    "400",
+    "--reprojection-weight",
+    "4.0",
+    "--baseline-run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+    "--chain-curvature-weight",
+    "5e-10",
+    "--chain-control-count",
+    "18"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:51:23.807709+00:00"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 22.1476013000065,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log

@@ -0,0 +1 @@
+hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/hybrid.json

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_argv.json

@@ -0,0 +1,12 @@
+{
+  "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/real_rgbd_appearance_spline_prior.py",
+    "hybrid",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:51:53.522340+00:00"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.2466138129966566,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log

@@ -0,0 +1 @@
+/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/manifest.json

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_argv.json

@@ -0,0 +1,12 @@
+{
+  "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/real_rgbd_appearance_spline_prior.py",
+    "manifest",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:52:08.235557+00:00"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 1.3317684799985727,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log

@@ -0,0 +1 @@
+review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/review.json

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_argv.json

@@ -0,0 +1,12 @@
+{
+  "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/real_rgbd_appearance_spline_prior.py",
+    "review",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:51:55.769157+00:00"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 12.464863779998268,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube.log

@@ -0,0 +1 @@
+tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/tube.json

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_argv.json

@@ -0,0 +1,12 @@
+{
+  "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/real_rgbd_appearance_spline_prior.py",
+    "tube",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:51:45.955598+00:00"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 4.989028149007936,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/full_prior_complete.json

@@ -0,0 +1,8 @@
+{
+  "case_id": "233350",
+  "candidate": "lower_curvature",
+  "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2",
+  "failed_stage": null,
+  "completed_utc": "2026-10-28T22:52:09.567523+00:00",
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/camera_meta.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9c9256acec117e1352c4a1af2ed20789ebcbb39088276a9f7d9424e0e5592d8
+size 1287

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/observation.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35b702c3e5fa3185b77730d2f38d4d7aff5969ec64190d8e8c55032054d07a91
+size 605413

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/hybrid/populations.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f71dd7333311c9aaa2ff820471a3bb50996767ad10276d47a6922a2d4812b810
+size 4809710

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/depth_offset_diagnostic.json

@@ -0,0 +1,90 @@
+{
+  "annulus_px": [
+    20,
+    80
+  ],
+  "interior_erosion_px": 2,
+  "correction_applied": false,
+  "views": [
+    {
+      "view": 0,
+      "serial": "12540311",
+      "annulus_count": 62964,
+      "belt_interior_count": 7620,
+      "belt_edge_count": 2750,
+      "table_median_z_m": -7.655212073059969e-05,
+      "belt_interior_median_z_m": 0.01055925031413879,
+      "belt_edge_median_z_m": 0.00024912902950402493,
+      "belt_minus_table_m": 0.01063580243486939,
+      "edge_minus_table_m": 0.00032568115023462463,
+      "table_p10_p90_z_m": [
+        -0.001958645012908189,
+        0.0011031486467430573
+      ],
+      "belt_interior_p10_p90_z_m": [
+        0.00037109482275370374,
+        0.015236898731755622
+      ]
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "annulus_count": 43337,
+      "belt_interior_count": 4253,
+      "belt_edge_count": 1729,
+      "table_median_z_m": -0.0009368307413537558,
+      "belt_interior_median_z_m": 0.005894032159887264,
+      "belt_edge_median_z_m": 0.000950817590460673,
+      "belt_minus_table_m": 0.006830862901241019,
+      "edge_minus_table_m": 0.0018876483318144288,
+      "table_p10_p90_z_m": [
+        -0.0016646231352850816,
+        -0.0003330011544799169
+      ],
+      "belt_interior_p10_p90_z_m": [
+        0.0013929230206320311,
+        0.00885023143788315
+      ]
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "annulus_count": 64210,
+      "belt_interior_count": 7178,
+      "belt_edge_count": 2939,
+      "table_median_z_m": 0.0013811225349885103,
+      "belt_interior_median_z_m": 0.011255177064247501,
+      "belt_edge_median_z_m": 0.001770530286694716,
+      "belt_minus_table_m": 0.009874054529258991,
+      "edge_minus_table_m": 0.00038940775170620556,
+      "table_p10_p90_z_m": [
+        0.00013622346882600223,
+        0.0025687680789306944
+      ],
+      "belt_interior_p10_p90_z_m": [
+        0.002513644893010925,
+        0.014696697391169756
+      ]
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "annulus_count": 42176,
+      "belt_interior_count": 4322,
+      "belt_edge_count": 2086,
+      "table_median_z_m": -3.088470725581827e-05,
+      "belt_interior_median_z_m": 0.008122605762869106,
+      "belt_edge_median_z_m": 0.0017639871212786762,
+      "belt_minus_table_m": 0.008153490470124924,
+      "edge_minus_table_m": 0.0017948718285344945,
+      "table_p10_p90_z_m": [
+        -0.0006555988662426682,
+        0.001863406973073245
+      ],
+      "belt_interior_p10_p90_z_m": [
+        0.0021249908671892802,
+        0.010988996893434166
+      ]
+    }
+  ]
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/observed_cloud.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbd81bca7bb74784f2ec5cd5564f58eb364c489fa97e415a21f18644d2b66458
+size 1615252

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/reference_views.json

@@ -0,0 +1,100 @@
+{
+  "case": "session_20260921_233350_440979",
+  "grid_sample": 0,
+  "views": [
+    {
+      "index": 0,
+      "serial": "12540311",
+      "native_frame": 0,
+      "offset_ms": 1.970902,
+      "object_mask_px": 10370,
+      "invalid_depth_in_mask_px": 0,
+      "occlusion_union_px": 353423,
+      "object_and_union_px": 0,
+      "lifted_points": 7290,
+      "lifted_z_min_max_m": [
+        -0.00302564008988615,
+        0.018761167192242523
+      ],
+      "uneroded_lifted_points": 10370,
+      "uneroded_lifted_z_min_max_m": [
+        -0.003858763419219202,
+        0.10390526603097272
+      ],
+      "eroded_lifted_points": 7620,
+      "erosion_removed_points": 2750,
+      "outlier_removed_points": 330
+    },
+    {
+      "index": 1,
+      "serial": "12933256",
+      "native_frame": 0,
+      "offset_ms": 0.0,
+      "object_mask_px": 5982,
+      "invalid_depth_in_mask_px": 0,
+      "occlusion_union_px": 284237,
+      "object_and_union_px": 28,
+      "lifted_points": 4154,
+      "lifted_z_min_max_m": [
+        -0.0014113355968503605,
+        0.012225868257994876
+      ],
+      "uneroded_lifted_points": 5982,
+      "uneroded_lifted_z_min_max_m": [
+        -0.0032101245077625906,
+        0.11407352285712274
+      ],
+      "eroded_lifted_points": 4253,
+      "erosion_removed_points": 1729,
+      "outlier_removed_points": 99
+    },
+    {
+      "index": 2,
+      "serial": "17736741",
+      "native_frame": 0,
+      "offset_ms": 6.200584,
+      "object_mask_px": 10117,
+      "invalid_depth_in_mask_px": 0,
+      "occlusion_union_px": 374073,
+      "object_and_union_px": 0,
+      "lifted_points": 6985,
+      "lifted_z_min_max_m": [
+        -0.00031823685067589036,
+        0.018007819757196564
+      ],
+      "uneroded_lifted_points": 10117,
+      "uneroded_lifted_z_min_max_m": [
+        -0.0010701685214193901,
+        0.08861601242826411
+      ],
+      "eroded_lifted_points": 7178,
+      "erosion_removed_points": 2939,
+      "outlier_removed_points": 193
+    },
+    {
+      "index": 3,
+      "serial": "23007103",
+      "native_frame": 0,
+      "offset_ms": 8.734615,
+      "object_mask_px": 6408,
+      "invalid_depth_in_mask_px": 0,
+      "occlusion_union_px": 174842,
+      "object_and_union_px": 5,
+      "lifted_points": 3986,
+      "lifted_z_min_max_m": [
+        -0.0004381281431145023,
+        0.0131987562091046
+      ],
+      "uneroded_lifted_points": 6408,
+      "uneroded_lifted_z_min_max_m": [
+        -0.0012160073284875894,
+        0.04531334527554337
+      ],
+      "eroded_lifted_points": 4322,
+      "erosion_removed_points": 2086,
+      "outlier_removed_points": 336
+    }
+  ],
+  "observed_points": 22415,
+  "mask_erosion_px": 2
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/manifest.json

@@ -0,0 +1,887 @@
+{
+  "kind": "real_rgbd_appearance_spline_prior_v1",
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "steps": {
+    "colors": {
+      "status": "ok",
+      "settings": {
+        "depth_tolerance_m": 0.025
+      },
+      "outputs": {
+        "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
+        "two_sided": false,
+        "depth_tolerance_m": 0.025,
+        "first_hit_tolerance_m": 0.0002,
+        "per_view": [
+          {
+            "view": 0,
+            "serial": "12540311",
+            "observed_vertices": 592,
+            "projected_inside": 1728,
+            "first_hit": 927
+          },
+          {
+            "view": 1,
+            "serial": "12933256",
+            "observed_vertices": 417,
+            "projected_inside": 1728,
+            "first_hit": 914
+          },
+          {
+            "view": 2,
+            "serial": "17736741",
+            "observed_vertices": 617,
+            "projected_inside": 1728,
+            "first_hit": 925
+          },
+          {
+            "view": 3,
+            "serial": "23007103",
+            "observed_vertices": 557,
+            "projected_inside": 1728,
+            "first_hit": 917
+          }
+        ],
+        "observed_vertices": 1037,
+        "filled_vertices": 691,
+        "fill_color_rgb": [
+          0.19215686274509805,
+          0.14901960784313725,
+          0.1404657230738269
+        ],
+        "glb_roundtrip": {
+          "float32_positions_exact": true,
+          "vertex_colors_exact": true,
+          "uv_count": 0,
+          "vertex_reordered_on_open3d_load": true
+        },
+        "files": {
+          "colors/vertex_colors.npz": "1a7d0ac0910ac34436fe019bb1f96edb608f18c639370de3ffa31877c8f1665d",
+          "colors/color_summary.json": "40e50752c6385066a0a54be476ec89cea924704d6f681ad3f028eb31be970549",
+          "tube/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9",
+          "tube/tube.ply": "c1477520f43c55185f61b23359d1dadec01e46d93ab8f032fcc6ac2499ac9529",
+          "gaussian_data/session_20260921_233350_440979/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 1.133122444152832
+    },
+    "diagnose-depth": {
+      "status": "ok",
+      "settings": {
+        "correction": "none",
+        "annulus_px": [
+          20,
+          80
+        ]
+      },
+      "outputs": {
+        "report": {
+          "annulus_px": [
+            20,
+            80
+          ],
+          "interior_erosion_px": 2,
+          "correction_applied": false,
+          "views": [
+            {
+              "view": 0,
+              "serial": "12540311",
+              "annulus_count": 62964,
+              "belt_interior_count": 7620,
+              "belt_edge_count": 2750,
+              "table_median_z_m": -7.655212073059969e-05,
+              "belt_interior_median_z_m": 0.01055925031413879,
+              "belt_edge_median_z_m": 0.00024912902950402493,
+              "belt_minus_table_m": 0.01063580243486939,
+              "edge_minus_table_m": 0.00032568115023462463,
+              "table_p10_p90_z_m": [
+                -0.001958645012908189,
+                0.0011031486467430573
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.00037109482275370374,
+                0.015236898731755622
+              ]
+            },
+            {
+              "view": 1,
+              "serial": "12933256",
+              "annulus_count": 43337,
+              "belt_interior_count": 4253,
+              "belt_edge_count": 1729,
+              "table_median_z_m": -0.0009368307413537558,
+              "belt_interior_median_z_m": 0.005894032159887264,
+              "belt_edge_median_z_m": 0.000950817590460673,
+              "belt_minus_table_m": 0.006830862901241019,
+              "edge_minus_table_m": 0.0018876483318144288,
+              "table_p10_p90_z_m": [
+                -0.0016646231352850816,
+                -0.0003330011544799169
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0013929230206320311,
+                0.00885023143788315
+              ]
+            },
+            {
+              "view": 2,
+              "serial": "17736741",
+              "annulus_count": 64210,
+              "belt_interior_count": 7178,
+              "belt_edge_count": 2939,
+              "table_median_z_m": 0.0013811225349885103,
+              "belt_interior_median_z_m": 0.011255177064247501,
+              "belt_edge_median_z_m": 0.001770530286694716,
+              "belt_minus_table_m": 0.009874054529258991,
+              "edge_minus_table_m": 0.00038940775170620556,
+              "table_p10_p90_z_m": [
+                0.00013622346882600223,
+                0.0025687680789306944
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.002513644893010925,
+                0.014696697391169756
+              ]
+            },
+            {
+              "view": 3,
+              "serial": "23007103",
+              "annulus_count": 42176,
+              "belt_interior_count": 4322,
+              "belt_edge_count": 2086,
+              "table_median_z_m": -3.088470725581827e-05,
+              "belt_interior_median_z_m": 0.008122605762869106,
+              "belt_edge_median_z_m": 0.0017639871212786762,
+              "belt_minus_table_m": 0.008153490470124924,
+              "edge_minus_table_m": 0.0017948718285344945,
+              "table_p10_p90_z_m": [
+                -0.0006555988662426682,
+                0.001863406973073245
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0021249908671892802,
+                0.010988996893434166
+              ]
+            }
+          ]
+        },
+        "files": {
+          "inputs/depth_offset_diagnostic.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.3075852394104004
+    },
+    "fit": {
+      "status": "ok",
+      "settings": {
+        "object": {
+          "name": "bike_chain",
+          "representation": "tube",
+          "fitter_source": "scripts/chain_state_estimation.py loss/solver literals",
+          "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)",
+          "radius_m": 0.00475,
+          "ribbon_width_m": null,
+          "step_t": 0.125,
+          "step_angle_deg": 30,
+          "u_resolution": null,
+          "overlap_rule": "surface_intersection",
+          "twist_penalty": null
+        },
+        "max_rounds": 400,
+        "control_count": 18,
+        "relative_loss_tolerance": 1e-07,
+        "reprojection": {
+          "weight": 4.0,
+          "direction": "visible mask pixels to projected centerline",
+          "ribbon_twist_stage": null,
+          "mask": "accepted object outside hand/occluder union",
+          "view_aggregation": "equal view means",
+          "distance": "metric image plane using per-view median visible belt depth and fx/fy",
+          "samples": 360,
+          "huber_delta_m": 0.005,
+          "smooth_cap_m": 0.035,
+          "baseline_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+        },
+        "loss_config": {
+          "eval_distances": true,
+          "max_saturation_distance": 0.035,
+          "distance_huber_delta": 0.005,
+          "eval_curvature_cost": true,
+          "num_eval_reg_points": 250,
+          "lambda_curvature_cost": 5e-10,
+          "max_curvature": 10.0,
+          "curvature_huber_delta": 30.0,
+          "max_saturation_curvature": 80.0,
+          "eval_curvilinear_energy": false,
+          "lambda_curvilinear_energy": 0.001,
+          "eval_length_constraint": true,
+          "lambda_length_constraint": 0.1,
+          "arclength_bounds": [
+            0.5830000042915344,
+            0.5849999785423279
+          ]
+        },
+        "solver_config": {
+          "solver_type": "lbfgs",
+          "linesearch_type": "zoom",
+          "max_linesearch_steps": 10,
+          "grad_norm_tolerance": 0.0001,
+          "max_iter": 25
+        },
+        "ribbon_twist_refinement": null
+      },
+      "outputs": {
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 23373,
+          "kept_count": 22415,
+          "removed_count": 958,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 7620,
+              "kept": 7290,
+              "removed": 330,
+              "live_20_0.05_kept": 5404,
+              "no_filter_kept": 7620
+            },
+            {
+              "view": 1,
+              "input": 4253,
+              "kept": 4154,
+              "removed": 99,
+              "live_20_0.05_kept": 2921,
+              "no_filter_kept": 4253
+            },
+            {
+              "view": 2,
+              "input": 7178,
+              "kept": 6985,
+              "removed": 193,
+              "live_20_0.05_kept": 4904,
+              "no_filter_kept": 7178
+            },
+            {
+              "view": 3,
+              "input": 4322,
+              "kept": 3986,
+              "removed": 336,
+              "live_20_0.05_kept": 1070,
+              "no_filter_kept": 4322
+            }
+          ]
+        },
+        "rounds": 1,
+        "stop": "gradient_tolerance",
+        "final": {
+          "loss": 5.9031030104961246e-05,
+          "components": {
+            "distance": 2.2463513232651167e-05,
+            "curvature": 4.391957375560196e-08,
+            "arclength": 4.9960036108132044e-09,
+            "mask_reprojection_2d": 3.651859879028052e-05
+          },
+          "grad_norm": 8.475646609440446e-05,
+          "arclength_m": 0.5852234959602356,
+          "arclength_bound_active_within_1mm": true,
+          "max_curvature_per_m": 77.98448944091797,
+          "curvature_p50_p90_per_m": [
+            11.468396186828613,
+            42.086771392822264
+          ],
+          "curvature_above_max_fraction": 0.564,
+          "mean_distance_m": 0.0070839541500012865,
+          "max_distance_m": 0.022682657465338707,
+          "beyond_2delta_fraction": 0.12933303591345083,
+          "at_cap_fraction": 0.0,
+          "per_view": [
+            {
+              "view": 0,
+              "count": 7290,
+              "median_m": 0.007497706217691302,
+              "p90_m": 0.011154823936522007,
+              "max_m": 0.014353872276842594,
+              "beyond_2delta_fraction": 0.200960219478738,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 1,
+              "count": 4154,
+              "median_m": 0.004821250913664699,
+              "p90_m": 0.007527824584394694,
+              "max_m": 0.011030963622033596,
+              "beyond_2delta_fraction": 0.011555127587867116,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 2,
+              "count": 6985,
+              "median_m": 0.007063489407300949,
+              "p90_m": 0.01026284396648407,
+              "max_m": 0.013585391454398632,
+              "beyond_2delta_fraction": 0.11882605583392986,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 3,
+              "count": 3986,
+              "median_m": 0.007189058931544423,
+              "p90_m": 0.010692490264773369,
+              "max_m": 0.022682657465338707,
+              "beyond_2delta_fraction": 0.13948820873055695,
+              "at_cap_fraction": 0.0
+            }
+          ],
+          "round": 1,
+          "relative_loss_change": 0.9847691103594011
+        },
+        "deterministic": true,
+        "partial_view_witness": {
+          "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
+          "control_count": 18,
+          "curvature_weight": 5e-10,
+          "seed": 5,
+          "noise_sigma_m": 0.0015,
+          "points": 288,
+          "tube_radius_m": 0.00475,
+          "truth_arclength_m": 0.5839999999999999,
+          "truth_corner_curvature_per_m": 100.0,
+          "fit_arclength_m": 0.5844501256942749,
+          "mean_centerline_distance_to_truth_m": 0.0032533064463410887,
+          "max_centerline_distance_to_truth_m": 0.005681761175842478,
+          "corner_truth_to_fit_mean_max_m": [
+            0.00338321064191233,
+            0.004025242412806483
+          ],
+          "straight_truth_to_fit_mean_m": 0.0032302843394948245,
+          "fit_max_curvature_per_m": 127.6394271850586,
+          "fit_curvature_nearest_corners_p50_max_per_m": [
+            51.747100830078125,
+            127.6394271850586
+          ],
+          "rounds": 1,
+          "stop": "gradient_tolerance"
+        },
+        "files": {
+          "spline/reprojection_residuals.npz": "366a73c7a2ef236ebbfc2e479b0f0ad7a676661329d317df52fa1a119140cbda",
+          "spline/residuals.npz": "1f666eca12c5d952c6d8e9fb65712af201a0a2371739aee40c660828f7740d28",
+          "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1",
+          "spline/spline_init.json": "a31ae13e76d533b82cddcf408c5f865e7af0b32bd0b3bf028b0f9de3ec462aee",
+          "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+          "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5",
+          "spline/witness.json": "a95069a8f0af4cd0832d682da5e861529438273bb67376ccb3058fc06d6987dd",
+          "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f",
+          "spline/spline_fit.json": "5fade669f69b24a511643c60d04fec2c7a59c58c984d7ff408b62c2a0c32dd11",
+          "spline/reprojection_comparison.json": "e66e82e792ce06566e4454e6629d2adc55fb70fd25ab34cbe16c0efb7032621e",
+          "spline/rounds.jsonl": "3f1c85c81982367b46c0693f9163b31798f4dd504699b35972941e2263860753",
+          "spline/init_ellipse.json": "27d464a292a3d50a9fa0417ec117ee2b28f13a5f58f401f33f6de218ef265d6f",
+          "spline/reprojection.json": "d8be1d2469019dc6e7d8174852478b092f615a0863eafb480090bb2ec53c9a01"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 20.087650299072266
+    },
+    "hybrid": {
+      "status": "ok",
+      "settings": {
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+        "numpy_seed": 0,
+        "points_per_triangle": 30
+      },
+      "outputs": {
+        "counts": {
+          "observed": 22415,
+          "mesh": 103680,
+          "total": 126095,
+          "mesh_to_observed": 4.625474012937765
+        },
+        "files": {
+          "hybrid/populations.npz": "f71dd7333311c9aaa2ff820471a3bb50996767ad10276d47a6922a2d4812b810"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.8287944793701172
+    },
+    "inputs": {
+      "status": "ok",
+      "settings": {
+        "object": "bike_chain",
+        "depth_source": "waft_stereo_dav2l5",
+        "depth_stream_ids": [
+          "zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth",
+          "zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth",
+          "zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth",
+          "zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth"
+        ],
+        "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+        "frames_sha256": "a0942bc36c199bbfd3820a2d364a01ab8ba928a6b19770a5b237ea1facdbb895",
+        "signed_native_frames_sha256": {
+          "12540311": "48e042953277766b9b0f888b7b739e9827765283a78f98a2f0e3c8e80fcfefe1",
+          "12933256": "6118d29b38eb0e2bb4dc4a3e17e0d96010b43b6d49912fc84e28b14697ee1024",
+          "17736741": "3af1fcdd7716b2267ea52c52e22319436efaf44a1801e24186498c5b27b981c7",
+          "23007103": "c4ad4b8a67375180f65129c0f24b071dbf60cb5d78b6b7a950c261263f01a94e"
+        },
+        "camera_frames_sha256": {
+          "12540311": "d2c9b3f290b737635ed209ff9ced770d38ed0832741e91065d79ee8dd4387dc4",
+          "12933256": "89157707e50b5ff6292b6e07dd06db7388f0cfdee4a2b252deb34b95ba7182a0",
+          "17736741": "ea83d3c91117acaf658860eb13caefc25b996548a69699be35a288d8b53793bc",
+          "23007103": "0c8aff30ba22897e806b1847f3a0b7307da29366e75a254a3380d09aa758ab9e"
+        },
+        "mask_erosion_px": 2,
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 23373,
+          "kept_count": 22415,
+          "removed_count": 958,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 7620,
+              "kept": 7290,
+              "removed": 330,
+              "live_20_0.05_kept": 5404,
+              "no_filter_kept": 7620
+            },
+            {
+              "view": 1,
+              "input": 4253,
+              "kept": 4154,
+              "removed": 99,
+              "live_20_0.05_kept": 2921,
+              "no_filter_kept": 4253
+            },
+            {
+              "view": 2,
+              "input": 7178,
+              "kept": 6985,
+              "removed": 193,
+              "live_20_0.05_kept": 4904,
+              "no_filter_kept": 7178
+            },
+            {
+              "view": 3,
+              "input": 4322,
+              "kept": 3986,
+              "removed": 336,
+              "live_20_0.05_kept": 1070,
+              "no_filter_kept": 4322
+            }
+          ]
+        },
+        "parent": null,
+        "unfitted_inputs": true,
+        "fitting_bundle_sha256": "62048240a6f804b44bf459cdc864c8c299804e37fc50738f45c7f40e22d68b19",
+        "signoffs": {
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12540311/review_signoff.json": "c230fe6872f6f464fafa3aff039c55b5ae4987410c22f8fa6add62626cfc829a",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12540311/review_signoff_occluder.json": "f7fb551be1950690c57e66d709fde328baa8a31c98c9c2a42521e55db1e534af",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12933256/review_signoff.json": "824a892b6b9208de7df64977c3579500385cd21c8e3b6652be4d87212a8688a1",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12933256/review_signoff_occluder.json": "eda3000d7bc79fd492793c0906f17ac41a91f617f001aaa85801847b967d2e17",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/17736741/review_signoff.json": "19027531f6942720853279918d143a9cf34183acb1444098e277c8810cf7b1e7",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/17736741/review_signoff_occluder.json": "81dda73b732004230a6f5e25c8890c024fdc32fe6afdcf3ba17e3a4e07eaa20f",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/23007103/review_signoff.json": "d153e3e1088351e2557ba6d2b287daff4c4a6fbd9f0c189d0ec32623852ae228",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/23007103/review_signoff_occluder.json": "c69d933fe4f7a06a5af94768a87e8763986896c75768a096e4d3f012768b74e1"
+        }
+      },
+      "outputs": {
+        "reference": {
+          "case": "session_20260921_233350_440979",
+          "grid_sample": 0,
+          "views": [
+            {
+              "index": 0,
+              "serial": "12540311",
+              "native_frame": 0,
+              "offset_ms": 1.970902,
+              "object_mask_px": 10370,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 353423,
+              "object_and_union_px": 0,
+              "lifted_points": 7290,
+              "lifted_z_min_max_m": [
+                -0.00302564008988615,
+                0.018761167192242523
+              ],
+              "uneroded_lifted_points": 10370,
+              "uneroded_lifted_z_min_max_m": [
+                -0.003858763419219202,
+                0.10390526603097272
+              ],
+              "eroded_lifted_points": 7620,
+              "erosion_removed_points": 2750,
+              "outlier_removed_points": 330
+            },
+            {
+              "index": 1,
+              "serial": "12933256",
+              "native_frame": 0,
+              "offset_ms": 0.0,
+              "object_mask_px": 5982,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 284237,
+              "object_and_union_px": 28,
+              "lifted_points": 4154,
+              "lifted_z_min_max_m": [
+                -0.0014113355968503605,
+                0.012225868257994876
+              ],
+              "uneroded_lifted_points": 5982,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0032101245077625906,
+                0.11407352285712274
+              ],
+              "eroded_lifted_points": 4253,
+              "erosion_removed_points": 1729,
+              "outlier_removed_points": 99
+            },
+            {
+              "index": 2,
+              "serial": "17736741",
+              "native_frame": 0,
+              "offset_ms": 6.200584,
+              "object_mask_px": 10117,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 374073,
+              "object_and_union_px": 0,
+              "lifted_points": 6985,
+              "lifted_z_min_max_m": [
+                -0.00031823685067589036,
+                0.018007819757196564
+              ],
+              "uneroded_lifted_points": 10117,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0010701685214193901,
+                0.08861601242826411
+              ],
+              "eroded_lifted_points": 7178,
+              "erosion_removed_points": 2939,
+              "outlier_removed_points": 193
+            },
+            {
+              "index": 3,
+              "serial": "23007103",
+              "native_frame": 0,
+              "offset_ms": 8.734615,
+              "object_mask_px": 6408,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 174842,
+              "object_and_union_px": 5,
+              "lifted_points": 3986,
+              "lifted_z_min_max_m": [
+                -0.0004381281431145023,
+                0.0131987562091046
+              ],
+              "uneroded_lifted_points": 6408,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0012160073284875894,
+                0.04531334527554337
+              ],
+              "eroded_lifted_points": 4322,
+              "erosion_removed_points": 2086,
+              "outlier_removed_points": 336
+            }
+          ],
+          "observed_points": 22415,
+          "mask_erosion_px": 2
+        },
+        "files": {
+          "inputs/observed_cloud.npz": "cbd81bca7bb74784f2ec5cd5564f58eb364c489fa97e415a21f18644d2b66458",
+          "inputs/reference_views.json": "1c1456b9a5eba30e61a6032c34f737ea3f3250160fbc7266c7fc46125bc8042c",
+          "gaussian_data/session_20260921_233350_440979/0.png": "b71f78e0369364a4d980fd8fc5e8a94d9942b29b59741403ad0192d322387e27",
+          "gaussian_data/session_20260921_233350_440979/mask_0.png": "7551fc755c7e60d1ce7d3987161d96ed30743af6e4905c101b124ddd2f90c3c6",
+          "gaussian_data/session_20260921_233350_440979/mask_human_0.png": "a9dd588945a4445f8c00fe3528e69f5539d5a7db9f26df4216ab6b897646d277",
+          "gaussian_data/session_20260921_233350_440979/0_depth.npy": "df89c575de1d2f5e986fd6bc1fe68c78fc7523d69cc0ca04538f42312d8df49b",
+          "gaussian_data/session_20260921_233350_440979/1.png": "585dfb360495255fcd89e5b17013562377cc6f38aa137eaa7d29d495c5ff32d4",
+          "gaussian_data/session_20260921_233350_440979/mask_1.png": "80a458a3bc2c90823e2fecd48dd723ba6d14404053e5099683021f79f726039c",
+          "gaussian_data/session_20260921_233350_440979/mask_human_1.png": "89bd50582ec33aaad55d50e8ee45b9c3a67a60641943c70bf74bcd2b374bb4c8",
+          "gaussian_data/session_20260921_233350_440979/1_depth.npy": "ce4c341223068584218d297831dc08ebf10ad96d1ce9b0af32e3c1a7164e2896",
+          "gaussian_data/session_20260921_233350_440979/2.png": "1bc3c96698e1a5f907faea515dae4447bd842420acfe6edfb569f0b0c28f44e9",
+          "gaussian_data/session_20260921_233350_440979/mask_2.png": "867a819d45c54171957a71fe6840f5720d72f83a0c023f1bd33c295ef88d8ad3",
+          "gaussian_data/session_20260921_233350_440979/mask_human_2.png": "9240380d1c1a46b8058779239824f916f948a957945947c152b0e06ac8742d66",
+          "gaussian_data/session_20260921_233350_440979/2_depth.npy": "632ccc3ed173559a896c14b2f9d51ad969bdaf1fc464471ddc366db255293065",
+          "gaussian_data/session_20260921_233350_440979/3.png": "d83b8f72dc5e6559b451b9e3af637cf0de6ab13d4e330fab672ea6ecd7a32520",
+          "gaussian_data/session_20260921_233350_440979/mask_3.png": "27885fc987774c89022dab82e2b49beb3b1bce4045ae19b60144cbbf34bad357",
+          "gaussian_data/session_20260921_233350_440979/mask_human_3.png": "be41d457677b4fae45b36185f0e0e3eef7cef914d32bd761687e4b4f0a378709",
+          "gaussian_data/session_20260921_233350_440979/3_depth.npy": "127a8ccbe0cf0d231a5c94aa38d9c98818702450dd4f8a6150b1c7f67953b0ee",
+          "gaussian_data/session_20260921_233350_440979/camera_meta.pkl": "f9c9256acec117e1352c4a1af2ed20789ebcbb39088276a9f7d9424e0e5592d8",
+          "gaussian_data/session_20260921_233350_440979/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+          "gaussian_data/session_20260921_233350_440979/observation.ply": "35b702c3e5fa3185b77730d2f38d4d7aff5969ec64190d8e8c55032054d07a91",
+          "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5",
+          "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f",
+          "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 33.40403342247009
+    },
+    "review": {
+      "status": "ok",
+      "settings": {
+        "historical_prior": null,
+        "historical_sha256": null,
+        "baseline_fit": null
+      },
+      "outputs": {
+        "review_files": 52,
+        "files": {
+          "review/hybrid/combined.png": "58e6b83d226f325192804bea0908bd97e27169a7bcc73d2ba47c3496d14cc8f5",
+          "review/hybrid/mesh.png": "756f3432283679677c1604d4ea7e03450e202bdd4b080cd42a7db4635cedd75d",
+          "review/hybrid/observed.png": "2d3da767d7b0c3cef312e5348f9ee232989e16d8e1baf4cc9ca8c953d4751723",
+          "review/tube/tube_profiles.png": "ded7f5a3d54c13a2d8c0b7ed04ceaf59f01d6a4d1df71697f732ae20b2a9e93f",
+          "review/tube/silhouette_1_unmasked.png": "3a0fdee4dc09635191041d84c6ac84fa5c3e471215dd9280b9c92d12c0aec5d5",
+          "review/tube/silhouette_0_unmasked.png": "a2a3b0c3965f18fc8af80d1358237f225ed3505e8faf415c0bcd2a652d6f2762",
+          "review/tube/silhouette_0_with_masks.png": "ed143a920790191a4dfcd0d1ac3f759d1904420784acbfad71f3fe26df54e204",
+          "review/tube/silhouette_1_with_masks.png": "10a065efcfb6dfb1ebb4a66b0840a65578d4266db1ea1dfd3f856225ea8e70cd",
+          "review/tube/silhouette_2_unmasked.png": "f7fe9fec352c4a65dfda5b44695185dfed6daf80a2b5e5e754ca99189017d87e",
+          "review/tube/silhouette_3_with_masks.png": "2bf6915c0ecb5523bdf3ab20fa9260f1dd6bd1dc383876d779450a248c057118",
+          "review/tube/silhouette_2_with_masks.png": "58833ba6bb695aaf51481768592cf315da576580a2dd15678eb362e167d1c0ac",
+          "review/tube/check_table.json": "c787ea23ab86637a11f78e09dc42930b00d8f5351781b22f15418d9097a44c0e",
+          "review/tube/orbit.mp4": "a5585745a3993e3d45b1c751a64868bf04450609212d0c48aab50ec4c48668b5",
+          "review/tube/silhouette_3_unmasked.png": "fd4a0c6fa1a6fe94a68122ab49807bb219a5478ca3880299a016b9e1f7c314f5",
+          "review/tube/tube_scale_views.png": "7848ffbbe88db2068940277f3665ad5829fc8fbba1b64de358df4d4df0c73ee5",
+          "review/inputs/depth_offset_table.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74",
+          "review/inputs/depth_offset.png": "cc408105c3bd5c5ee4371679536779804746f3a1cfccaf9495e749fe0ab0f29a",
+          "review/inputs/view_3_23007103.png": "9f5cd6ab205fcbcb82f447435545f218a23b9432cac23f7dc40666e389a51943",
+          "review/inputs/view_0_12540311.png": "4127337a800e2c64ec630fd62c97ae7a8195cb1fc082c04ddaf703a5c7acb96e",
+          "review/inputs/view_1_12933256.png": "9205ca8411072088315531113c0cf06b107d4c5bfbe5907e0d2dc1de50565737",
+          "review/inputs/cloud_rgb.png": "08b7b8d86cf03def95fe6bf9429919cdb0b3505de64c086ce2cea57a35208edb",
+          "review/inputs/filter_removed.png": "8c9a33dbe3da0f7b352a972ad5f991ab262a943b0bb429803eedc15bffc8296a",
+          "review/inputs/cloud_by_view.png": "22c3f0ebbdd62ff2c48792e1a13c3447eb1b3c7783d54760fd6dd2bddc79baaa",
+          "review/inputs/view_2_17736741.png": "fbea7fed1a53e63e05bd6e4058c375c86e93ccdef2392d69a21a39a12dfdfbc0",
+          "review/rerun/headless_contact_sheet.png": "2bdd15970a8bcf4c45fe4e59bf70eec0beac07deaee3161d8e9447316a8d2b7a",
+          "review/spline/centerline_0_with_masks.png": "f387889ccdf9dd39479a74c1ef9648c4a3dace2e102b502e29ef0cd5f4e949a8",
+          "review/spline/centerline_3_unmasked.png": "3c1265b54399c95d810377a486ba31b598f9b793515962e548c78c5e316b07d8",
+          "review/spline/per_view_arc_coverage.png": "24af38448ef54fd482287a5e82615464e25c298a74348b5985e34fbc7cedabb5",
+          "review/spline/fit_projections.png": "da3af9669d01c7acd3f7d71fe41ed451948f9cb9cf0ce625f44dfccad8f3c6b6",
+          "review/spline/centerline_1_unmasked.png": "0b5133371129471a5660adc83f99c813a3548e17de58af6503a58bcb535f213e",
+          "review/spline/centerline_2_with_masks.png": "cd004c6f1601e41a8e8e1b3b1fe6685666114c12a67792ed4ddce7b8c978f0a0",
+          "review/spline/centerline_1_with_masks.png": "0d7b363db74ae9a247c270eea9d423a8f6f3019072d036b39fdb847d24fa9d12",
+          "review/spline/centerline_2_unmasked.png": "a8fd1f08875c864a511cbd641c53c22e7e653794de9534195932e928f9bbeb27",
+          "review/spline/round_curves.png": "895f80af67809776d3e644f2067b98b6b5fac111434468d48adf36268327bb1f",
+          "review/spline/curvature_profile.png": "a215e90b253b30d4ddea6627523f33f4971e962c1c9b3ac0893e9bc26ef2f4d6",
+          "review/spline/residual_histograms.png": "07172c84bc0ced409c1c250232a84fe8d578faf8bf35344fa62d8428f2fc6cb0",
+          "review/spline/centerline_3_with_masks.png": "65a7a7d5f370e3b909ee750c232925086c15c853a8a2d94bf104ec64e4dc7935",
+          "review/spline/fit_3d.png": "dfb0c030d0e4a097ba918654e8581b29d749adb32ac785c8e94c19154b67d1c0",
+          "review/spline/centerline_0_unmasked.png": "3004ebb6d2793b5ac8ceeb84f137bb32f9527b7b92a0b40e605ce3e638959b5b",
+          "review/colors/fill_swatch.txt": "1e5b8f278e1df387785824e89b41edcde37025aa5e9798c5ea01ca40c2464191",
+          "review/colors/view_2_visibility.png": "6b608bcfbc784a72a8ebd030bca4258a6688d689901e063dae679d91ca7ba1e3",
+          "review/colors/view_1_visibility.png": "9bb9d2d808e52f8d1971e4af3121ba9216dac03bb05f3f0e9e013b33483fccf8",
+          "review/colors/visibility_and_fill.png": "d9495815d7bb83d69760110594b2f6e7f384b297c00462639372b0129d300fa4",
+          "review/colors/view_0_visibility.png": "d2166bfa664728dd10653d17d46b6acc2ff98e4be7f222fae809742ad94c61c5",
+          "review/colors/fill_swatch.png": "76b2ab8ec88baf6349a63543289b41b098e230608eb51d66b8c4a9d4b2705e27",
+          "review/colors/view_3_visibility.png": "04a8e4fdb1f863e97cdab74845921db26aebbe5f711f39094fc8627cc5122bd7",
+          "rerun/appearance_spline_prior.rrd": "fd36a7393da0f27f33ec7e4d72445254e3872bf36fea9adba1dd805ac46a888d"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 10.672214984893799
+    },
+    "tube": {
+      "status": "ok",
+      "settings": {
+        "radius_m": 0.00475,
+        "step_t": 0.125,
+        "step_angle_deg": 30
+      },
+      "outputs": {
+        "checks": {
+          "euler_characteristic": 0,
+          "watertight": true,
+          "components": 1,
+          "winding_consistent": true,
+          "signed_volume_m3": 3.9564960270954776e-05,
+          "minimum_outward_normal_dot_m": 0.004553195774262832,
+          "degenerate_triangles": 0,
+          "self_intersecting": false,
+          "maximum_radius_error_m": 7.834360467653956e-09,
+          "maximum_diameter_error_m": 1.4621262632921739e-08,
+          "bishop_seam_error": 5.960464477539063e-08,
+          "minimum_nonadjacent_centerline_distance_m": 0.003962846286791258,
+          "triangle_area_m2": {
+            "min": 1.9235560876537427e-06,
+            "median": 5.111982282511243e-06,
+            "mean": 4.9931428139748e-06,
+            "max": 7.568709142656369e-06,
+            "density_max_over_min": 3.93474835032666
+          },
+          "bounds_m": [
+            [
+              -0.041020505130290985,
+              -0.1838671863079071,
+              -0.001413506455719471
+            ],
+            [
+              0.1459730565547943,
+              -0.013492164202034473,
+              0.022151600569486618
+            ]
+          ],
+          "radius_m": 0.00475,
+          "step_t": 0.125,
+          "step_angle_deg": 30,
+          "overlap_rule": "surface_intersection",
+          "open3d_reported_intersecting_pairs": 0,
+          "confirmed_intersecting_pairs": [],
+          "passed": true,
+          "orientation_flipped": true
+        },
+        "vertex_count": 1728,
+        "triangle_count": 3456,
+        "files": {
+          "tube/tube_checks.json": "c787ea23ab86637a11f78e09dc42930b00d8f5351781b22f15418d9097a44c0e",
+          "tube/triangle_areas.npz": "b25e86b3a1f817094a375993a07c30fc29ca722bdb68be563bbab359b188e14e",
+          "tube/geometry.npz": "f0732b976e72d5bdfc863199c7586129b1524aae98b4802a51d1b3c1c8ccaba9"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 3.2791852951049805
+    }
+  },
+  "files": {
+    "colors/color_summary.json": "40e50752c6385066a0a54be476ec89cea924704d6f681ad3f028eb31be970549",
+    "colors/vertex_colors.npz": "1a7d0ac0910ac34436fe019bb1f96edb608f18c639370de3ffa31877c8f1665d",
+    "comparison_colors.log": "63e487960fa832d9a7919cc774c71b1b41b8759208eec30f71bbba83f4411caa",
+    "comparison_colors_argv.json": "e574064bf74db63089df52e60c773d622ffb07d4cbab0d4dbd93df368d7b76b8",
+    "comparison_colors_result.json": "e11c1de3bf7e31310a78f31d65cfb6d2c3806e3e6d47f4da62bc5ef9ac20ca6e",
+    "comparison_fit.log": "ea78db3ed6af8617d8aed2ba95e7fcdc981a399369f92ee7d11b318e3cd1b390",
+    "comparison_fit_argv.json": "e8ef58cd2752211cfbe2297a0d64ebde2b31ed32842a0dac877a374ee96c6ee8",
+    "comparison_fit_result.json": "f20e22404e4ebb314c59920cedfef5f2acde233a55aeea497ddcd46e92c83ab2",
+    "comparison_hybrid.log": "1fcc8f1a2b9ffd01d4f619667d5d21a9d8ab75ebc04e01a70776f383572c5b9a",
+    "comparison_hybrid_argv.json": "41b7916f16cc2aac9ea5eb117b24a2f0f1fa10a7b0874b20c79a2cb95e8edd15",
+    "comparison_hybrid_result.json": "0c54ee33cb13971a6f2c4be4b3ecfdc05aed31bf3adacd2b23fdc611c3fb4047",
+    "comparison_manifest.log": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+    "comparison_manifest_argv.json": "41308f1eea208d7f1af3673310bb47bbaa0a4d420784f5efbd215dd871d399f7",
+    "comparison_review.log": "88248d49de763083f7f17b9194783c68a4f25ead2b02f47e4e46413b02ff1225",
+    "comparison_review_argv.json": "ad48eef76957f9f257ae105f27ed0176bdc3d64a33edc3abc34d6ddf385ff30d",
+    "comparison_review_result.json": "604359d02ad8b7cd5a3ee536c6f81f46c1d2536683647b0b3057d10e804d36b6",
+    "comparison_tube.log": "73bc4d37ffac1eef3ee152ec382b72f8c7b21f30fb5c9b1f4676a88de3bedd61",
+    "comparison_tube_argv.json": "c946738daf7b1133b8962852526e1090f3824a440121441093f1c0a0ec8d971f",
+    "comparison_tube_result.json": "87a980ba077bb84d9191f1d90352b08ac3a9e557233e3e3c4ed79c0336df72fa",
+    "gaussian_data/session_20260921_233350_440979/0.png": "b71f78e0369364a4d980fd8fc5e8a94d9942b29b59741403ad0192d322387e27",
+    "gaussian_data/session_20260921_233350_440979/0_depth.npy": "df89c575de1d2f5e986fd6bc1fe68c78fc7523d69cc0ca04538f42312d8df49b",
+    "gaussian_data/session_20260921_233350_440979/1.png": "585dfb360495255fcd89e5b17013562377cc6f38aa137eaa7d29d495c5ff32d4",
+    "gaussian_data/session_20260921_233350_440979/1_depth.npy": "ce4c341223068584218d297831dc08ebf10ad96d1ce9b0af32e3c1a7164e2896",
+    "gaussian_data/session_20260921_233350_440979/2.png": "1bc3c96698e1a5f907faea515dae4447bd842420acfe6edfb569f0b0c28f44e9",
+    "gaussian_data/session_20260921_233350_440979/2_depth.npy": "632ccc3ed173559a896c14b2f9d51ad969bdaf1fc464471ddc366db255293065",
+    "gaussian_data/session_20260921_233350_440979/3.png": "d83b8f72dc5e6559b451b9e3af637cf0de6ab13d4e330fab672ea6ecd7a32520",
+    "gaussian_data/session_20260921_233350_440979/3_depth.npy": "127a8ccbe0cf0d231a5c94aa38d9c98818702450dd4f8a6150b1c7f67953b0ee",
+    "gaussian_data/session_20260921_233350_440979/camera_meta.pkl": "f9c9256acec117e1352c4a1af2ed20789ebcbb39088276a9f7d9424e0e5592d8",
+    "gaussian_data/session_20260921_233350_440979/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+    "gaussian_data/session_20260921_233350_440979/mask_0.png": "7551fc755c7e60d1ce7d3987161d96ed30743af6e4905c101b124ddd2f90c3c6",
+    "gaussian_data/session_20260921_233350_440979/mask_1.png": "80a458a3bc2c90823e2fecd48dd723ba6d14404053e5099683021f79f726039c",
+    "gaussian_data/session_20260921_233350_440979/mask_2.png": "867a819d45c54171957a71fe6840f5720d72f83a0c023f1bd33c295ef88d8ad3",
+    "gaussian_data/session_20260921_233350_440979/mask_3.png": "27885fc987774c89022dab82e2b49beb3b1bce4045ae19b60144cbbf34bad357",
+    "gaussian_data/session_20260921_233350_440979/mask_human_0.png": "a9dd588945a4445f8c00fe3528e69f5539d5a7db9f26df4216ab6b897646d277",
+    "gaussian_data/session_20260921_233350_440979/mask_human_1.png": "89bd50582ec33aaad55d50e8ee45b9c3a67a60641943c70bf74bcd2b374bb4c8",
+    "gaussian_data/session_20260921_233350_440979/mask_human_2.png": "9240380d1c1a46b8058779239824f916f948a957945947c152b0e06ac8742d66",
+    "gaussian_data/session_20260921_233350_440979/mask_human_3.png": "be41d457677b4fae45b36185f0e0e3eef7cef914d32bd761687e4b4f0a378709",
+    "gaussian_data/session_20260921_233350_440979/observation.ply": "35b702c3e5fa3185b77730d2f38d4d7aff5969ec64190d8e8c55032054d07a91",
+    "gaussian_data/session_20260921_233350_440979/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9",
+    "hybrid/populations.npz": "f71dd7333311c9aaa2ff820471a3bb50996767ad10276d47a6922a2d4812b810",
+    "inputs/depth_offset_diagnostic.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74",
+    "inputs/observed_cloud.npz": "cbd81bca7bb74784f2ec5cd5564f58eb364c489fa97e415a21f18644d2b66458",
+    "inputs/reference_views.json": "1c1456b9a5eba30e61a6032c34f737ea3f3250160fbc7266c7fc46125bc8042c",
+    "rerun/appearance_spline_prior.rrd": "fd36a7393da0f27f33ec7e4d72445254e3872bf36fea9adba1dd805ac46a888d",
+    "reused_inputs.json": "5d6ac0b8e7af8191dfaa57ae031d8a27f937cf88bbef8569d92c73c0f897ed2a",
+    "review/colors/fill_swatch.png": "76b2ab8ec88baf6349a63543289b41b098e230608eb51d66b8c4a9d4b2705e27",
+    "review/colors/fill_swatch.txt": "1e5b8f278e1df387785824e89b41edcde37025aa5e9798c5ea01ca40c2464191",
+    "review/colors/view_0_visibility.png": "d2166bfa664728dd10653d17d46b6acc2ff98e4be7f222fae809742ad94c61c5",
+    "review/colors/view_1_visibility.png": "9bb9d2d808e52f8d1971e4af3121ba9216dac03bb05f3f0e9e013b33483fccf8",
+    "review/colors/view_2_visibility.png": "6b608bcfbc784a72a8ebd030bca4258a6688d689901e063dae679d91ca7ba1e3",
+    "review/colors/view_3_visibility.png": "04a8e4fdb1f863e97cdab74845921db26aebbe5f711f39094fc8627cc5122bd7",
+    "review/colors/visibility_and_fill.png": "d9495815d7bb83d69760110594b2f6e7f384b297c00462639372b0129d300fa4",
+    "review/hybrid/combined.png": "58e6b83d226f325192804bea0908bd97e27169a7bcc73d2ba47c3496d14cc8f5",
+    "review/hybrid/mesh.png": "756f3432283679677c1604d4ea7e03450e202bdd4b080cd42a7db4635cedd75d",
+    "review/hybrid/observed.png": "2d3da767d7b0c3cef312e5348f9ee232989e16d8e1baf4cc9ca8c953d4751723",
+    "review/inputs/cloud_by_view.png": "22c3f0ebbdd62ff2c48792e1a13c3447eb1b3c7783d54760fd6dd2bddc79baaa",
+    "review/inputs/cloud_rgb.png": "08b7b8d86cf03def95fe6bf9429919cdb0b3505de64c086ce2cea57a35208edb",
+    "review/inputs/depth_offset.png": "cc408105c3bd5c5ee4371679536779804746f3a1cfccaf9495e749fe0ab0f29a",
+    "review/inputs/depth_offset_table.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74",
+    "review/inputs/filter_removed.png": "8c9a33dbe3da0f7b352a972ad5f991ab262a943b0bb429803eedc15bffc8296a",
+    "review/inputs/view_0_12540311.png": "4127337a800e2c64ec630fd62c97ae7a8195cb1fc082c04ddaf703a5c7acb96e",
+    "review/inputs/view_1_12933256.png": "9205ca8411072088315531113c0cf06b107d4c5bfbe5907e0d2dc1de50565737",
+    "review/inputs/view_2_17736741.png": "fbea7fed1a53e63e05bd6e4058c375c86e93ccdef2392d69a21a39a12dfdfbc0",
+    "review/inputs/view_3_23007103.png": "9f5cd6ab205fcbcb82f447435545f218a23b9432cac23f7dc40666e389a51943",
+    "review/rerun/headless_contact_sheet.png": "2bdd15970a8bcf4c45fe4e59bf70eec0beac07deaee3161d8e9447316a8d2b7a",
+    "review/spline/centerline_0_unmasked.png": "3004ebb6d2793b5ac8ceeb84f137bb32f9527b7b92a0b40e605ce3e638959b5b",
+    "review/spline/centerline_0_with_masks.png": "f387889ccdf9dd39479a74c1ef9648c4a3dace2e102b502e29ef0cd5f4e949a8",
+    "review/spline/centerline_1_unmasked.png": "0b5133371129471a5660adc83f99c813a3548e17de58af6503a58bcb535f213e",
+    "review/spline/centerline_1_with_masks.png": "0d7b363db74ae9a247c270eea9d423a8f6f3019072d036b39fdb847d24fa9d12",
+    "review/spline/centerline_2_unmasked.png": "a8fd1f08875c864a511cbd641c53c22e7e653794de9534195932e928f9bbeb27",
+    "review/spline/centerline_2_with_masks.png": "cd004c6f1601e41a8e8e1b3b1fe6685666114c12a67792ed4ddce7b8c978f0a0",
+    "review/spline/centerline_3_unmasked.png": "3c1265b54399c95d810377a486ba31b598f9b793515962e548c78c5e316b07d8",
+    "review/spline/centerline_3_with_masks.png": "65a7a7d5f370e3b909ee750c232925086c15c853a8a2d94bf104ec64e4dc7935",
+    "review/spline/curvature_profile.png": "a215e90b253b30d4ddea6627523f33f4971e962c1c9b3ac0893e9bc26ef2f4d6",
+    "review/spline/fit_3d.png": "dfb0c030d0e4a097ba918654e8581b29d749adb32ac785c8e94c19154b67d1c0",
+    "review/spline/fit_projections.png": "da3af9669d01c7acd3f7d71fe41ed451948f9cb9cf0ce625f44dfccad8f3c6b6",
+    "review/spline/per_view_arc_coverage.png": "24af38448ef54fd482287a5e82615464e25c298a74348b5985e34fbc7cedabb5",
+    "review/spline/residual_histograms.png": "07172c84bc0ced409c1c250232a84fe8d578faf8bf35344fa62d8428f2fc6cb0",
+    "review/spline/round_curves.png": "895f80af67809776d3e644f2067b98b6b5fac111434468d48adf36268327bb1f",
+    "review/tube/check_table.json": "c787ea23ab86637a11f78e09dc42930b00d8f5351781b22f15418d9097a44c0e",
+    "review/tube/orbit.mp4": "a5585745a3993e3d45b1c751a64868bf04450609212d0c48aab50ec4c48668b5",
+    "review/tube/silhouette_0_unmasked.png": "a2a3b0c3965f18fc8af80d1358237f225ed3505e8faf415c0bcd2a652d6f2762",
+    "review/tube/silhouette_0_with_masks.png": "ed143a920790191a4dfcd0d1ac3f759d1904420784acbfad71f3fe26df54e204",
+    "review/tube/silhouette_1_unmasked.png": "3a0fdee4dc09635191041d84c6ac84fa5c3e471215dd9280b9c92d12c0aec5d5",
+    "review/tube/silhouette_1_with_masks.png": "10a065efcfb6dfb1ebb4a66b0840a65578d4266db1ea1dfd3f856225ea8e70cd",
+    "review/tube/silhouette_2_unmasked.png": "f7fe9fec352c4a65dfda5b44695185dfed6daf80a2b5e5e754ca99189017d87e",
+    "review/tube/silhouette_2_with_masks.png": "58833ba6bb695aaf51481768592cf315da576580a2dd15678eb362e167d1c0ac",
+    "review/tube/silhouette_3_unmasked.png": "fd4a0c6fa1a6fe94a68122ab49807bb219a5478ca3880299a016b9e1f7c314f5",
+    "review/tube/silhouette_3_with_masks.png": "2bf6915c0ecb5523bdf3ab20fa9260f1dd6bd1dc383876d779450a248c057118",
+    "review/tube/tube_profiles.png": "ded7f5a3d54c13a2d8c0b7ed04ceaf59f01d6a4d1df71697f732ae20b2a9e93f",
+    "review/tube/tube_scale_views.png": "7848ffbbe88db2068940277f3665ad5829fc8fbba1b64de358df4d4df0c73ee5",
+    "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+    "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5",
+    "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f",
+    "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1",
+    "spline/init_ellipse.json": "27d464a292a3d50a9fa0417ec117ee2b28f13a5f58f401f33f6de218ef265d6f",
+    "spline/reprojection.json": "d8be1d2469019dc6e7d8174852478b092f615a0863eafb480090bb2ec53c9a01",
+    "spline/reprojection_comparison.json": "e66e82e792ce06566e4454e6629d2adc55fb70fd25ab34cbe16c0efb7032621e",
+    "spline/reprojection_residuals.npz": "366a73c7a2ef236ebbfc2e479b0f0ad7a676661329d317df52fa1a119140cbda",
+    "spline/residuals.npz": "1f666eca12c5d952c6d8e9fb65712af201a0a2371739aee40c660828f7740d28",
+    "spline/rounds.jsonl": "3f1c85c81982367b46c0693f9163b31798f4dd504699b35972941e2263860753",
+    "spline/spline_fit.json": "5fade669f69b24a511643c60d04fec2c7a59c58c984d7ff408b62c2a0c32dd11",
+    "spline/spline_init.json": "a31ae13e76d533b82cddcf408c5f865e7af0b32bd0b3bf028b0f9de3ec462aee",
+    "spline/witness.json": "a95069a8f0af4cd0832d682da5e861529438273bb67376ccb3058fc06d6987dd",
+    "steps/colors.json": "781260a68cb443dd4a91eee7fe25e014e7e3f2b9a1d04d0be807dea3ad5c4a80",
+    "steps/diagnose-depth.json": "ab6c5ecac674bbaccdbbe54048d5a4f4ef1c354ac15b070447327d45a60fdd8f",
+    "steps/fit.json": "b065a480b1c996c8927a08a4b02ae0e4ba8e7c3941ebcb8ad6ecc31a4bad56e7",
+    "steps/hybrid.json": "6270391ecccf8e0e88580c5c8c2141728e1a8e9ad7fe820908fc5a9a62003ac2",
+    "steps/inputs.json": "66666452fd054759cc45f891fa974dd0e38abea99a782ffa053dd12b82bbe76b",
+    "steps/review.json": "1901f55fcfbe2b66ad8661f4f07fbc6290411d9345ff7636b56ddcb224346faa",
+    "steps/tube.json": "9872dd3202c92003a905c8a7ef6c8bce675c78f25750980223a0ec26c7c3f8e6",
+    "tube/geometry.npz": "f0732b976e72d5bdfc863199c7586129b1524aae98b4802a51d1b3c1c8ccaba9",
+    "tube/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9",
+    "tube/triangle_areas.npz": "b25e86b3a1f817094a375993a07c30fc29ca722bdb68be563bbab359b188e14e",
+    "tube/tube.ply": "c1477520f43c55185f61b23359d1dadec01e46d93ab8f032fcc6ac2499ac9529",
+    "tube/tube_checks.json": "c787ea23ab86637a11f78e09dc42930b00d8f5351781b22f15418d9097a44c0e"
+  }
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd36a7393da0f27f33ec7e4d72445254e3872bf36fea9adba1dd805ac46a888d
+size 25884187

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/reused_inputs.json

@@ -0,0 +1,33 @@
+{
+  "source_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+  "files": [
+    "inputs/reference_views.json",
+    "inputs/observed_cloud.npz",
+    "inputs/depth_offset_diagnostic.json",
+    "spline/filter.json",
+    "spline/filter_removed.npz",
+    "spline/filtered_cloud.npz",
+    "steps/inputs.json",
+    "steps/diagnose-depth.json",
+    "gaussian_data/session_20260921_233350_440979/0.png",
+    "gaussian_data/session_20260921_233350_440979/0_depth.npy",
+    "gaussian_data/session_20260921_233350_440979/1.png",
+    "gaussian_data/session_20260921_233350_440979/1_depth.npy",
+    "gaussian_data/session_20260921_233350_440979/2.png",
+    "gaussian_data/session_20260921_233350_440979/2_depth.npy",
+    "gaussian_data/session_20260921_233350_440979/3.png",
+    "gaussian_data/session_20260921_233350_440979/3_depth.npy",
+    "gaussian_data/session_20260921_233350_440979/camera_meta.pkl",
+    "gaussian_data/session_20260921_233350_440979/interp_poses.pkl",
+    "gaussian_data/session_20260921_233350_440979/mask_0.png",
+    "gaussian_data/session_20260921_233350_440979/mask_1.png",
+    "gaussian_data/session_20260921_233350_440979/mask_2.png",
+    "gaussian_data/session_20260921_233350_440979/mask_3.png",
+    "gaussian_data/session_20260921_233350_440979/mask_human_0.png",
+    "gaussian_data/session_20260921_233350_440979/mask_human_1.png",
+    "gaussian_data/session_20260921_233350_440979/mask_human_2.png",
+    "gaussian_data/session_20260921_233350_440979/mask_human_3.png",
+    "gaussian_data/session_20260921_233350_440979/observation.ply"
+  ],
+  "action": "Exact observation/filter/step copies; new fit and all derived products are generated separately."
+}

sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/fill_swatch.txt

@@ -0,0 +1,2 @@
+Per-channel median of 1037 observed vertex colours (RGB/255): [0.19215686274509805, 0.14901960784313725, 0.1404657230738269]
+Filled 691 vertices.