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a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/chain_centerline_comparison_v1/B_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/chain_centerline_comparison_v1/B_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..5a51b2b4887e0da8e768847f0784b3bf4a555138 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/chain_centerline_comparison_v1/B_argv.json @@ -0,0 +1,23 @@ +{ + "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", + 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Visual and numerical review is complete; the next candidate decision remains with the owner. + +The same saved initial observations, masks and depth diagnostics were copied exactly. The original prior remains unchanged. Total objectives differ in curvature weight and are not an adoption score. + +| Fit | Controls | Curvature weight | Length mm | Max sampled curvature /m | Mean 3D mm | Mean per-view 2D mm | Rounds / stop | +|---|---:|---:|---:|---:|---:|---:|---| +| baseline | 9 | 5e-08 | 585.394 | 92.251 | 8.475 | 3.325 | 2 / gradient_tolerance | +| A | 9 | 5e-09 | 585.446 | 97.707 | 8.461 | 3.330 | 2 / gradient_tolerance | +| B | 18 | 5e-09 | 585.423 | 105.470 | 8.390 | 3.230 | 1 / gradient_tolerance | + +3D residuals measure observed depth points to the centerline; 2D residuals measure visible mask pixels to it. Thickness, depth uncertainty and hidden geometry remain confounded; neither is ground-truth centerline error. B uses 180 rather than 90 coarse distance-search samples through the existing M-dependent search. Curvature and reprojection sample counts and the solver/length penalty remain unchanged. The table retains the fitter sampling; the curvature display uses 1000 parameter samples and is not a certified continuous maximum. + +- 12540311: [three fits](review/12540311_three_fits.png) · [combined overlay](review/12540311_combined.png) +- 12933256: [three fits](review/12933256_three_fits.png) · [combined overlay](review/12933256_combined.png) +- 17736741: [three fits](review/17736741_three_fits.png) · [combined overlay](review/17736741_combined.png) +- 23007103: [three fits](review/23007103_three_fits.png) · [combined overlay](review/23007103_combined.png) + +[Curvature distributions](review/curvature_comparison.png) · [Saved metrics](comparison_metrics.json) + +This comparison contains centerlines only. It does not establish candidate tube validity, mechanical readiness or appearance quality. + +## Visual interpretation and next decision + +Combined overlays use **baseline blue, A orange and B green**. Some narrow-image title text is clipped; the table above gives the exact settings. All eight camera comparison images and the curvature plot were inspected. + +All three curves follow the same broad loop. A and the baseline are nearly coincident in the four views; the tenfold curvature-weight reduction alone does not visibly recover substantial additional detail. + +B makes modest local contour adjustments, most apparent along the long left edge in 12540311 and the lower/left bends in 17736741. Its curve remains smooth and does not resolve individual chain-link geometry. The hand-hidden arcs remain inferred. + +B lowers mean projected-mask distance in all four views. Its overall mean depth-point distance also falls slightly, but median depth residuals increase in 12540311 and 12933256 while decreasing in 17736741 and 23007103. This is not a uniform accuracy gain. + +The 1000-sample curvature display shows more localized variation in B, a sharper peak at one bend and a reduced peak at the other. Normalized spline parameters are not matched material points, so the pointwise plot is descriptive. + +No visible wrong-loop placement or centerline self-crossing was seen. Tube validity has not been assessed for either variant. + +B improves the mean projected-mask distance by **2.85% (3.325 → 3.230 mm)** and mean depth-point distance by **1.01% (8.475 → 8.390 mm)** relative to baseline. Its length remains **0.423 mm above the soft upper bound**, without correction. The lower total objective is not a comparable adoption score because the curvature weight changed. + +I recommend preparing **B as a full tube/color/hybrid prior for owner review**. This is a modest local improvement, not evidence that all missing centerline detail is recovered. The existing **4.75 mm tube radius**, geometry checks and other settings would remain unchanged; no additional centerline fit is needed. The original prior and both saved comparisons remain available. Full-prior acceptance, use on other chain cases, mechanical preparation and static appearance remain separate from this comparison. + +[Exact inspection record](agent_findings.json). diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/chain_centerline_comparison_v1/agent_findings.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/chain_centerline_comparison_v1/agent_findings.json new file mode 100644 index 0000000000000000000000000000000000000000..efe615c182dcca4c5dceba297c957c5c1b8c9f8f --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/chain_centerline_comparison_v1/agent_findings.json @@ -0,0 +1,32 @@ +{ + "reviewed_utc": "2026-10-28T20:58:17.877091+00:00", + "scope": "Owner-selected centerline comparisons A and B only; no prior adoption or downstream authorization", + "inspected_images": [ + "review/12540311_combined.png", + "review/12540311_three_fits.png", + "review/12933256_combined.png", + "review/12933256_three_fits.png", + "review/17736741_combined.png", + "review/17736741_three_fits.png", + "review/23007103_combined.png", + "review/23007103_three_fits.png", + "review/curvature_comparison.png" + ], + "observations": [ + "All three curves follow the same broad loop. A and the baseline are nearly coincident in the four views; the tenfold curvature-weight reduction alone does not visibly recover substantial additional detail.", + "B makes modest local contour adjustments, most apparent along the long left edge in 12540311 and the lower/left bends in 17736741. Its curve remains smooth and does not resolve individual chain-link geometry. The hand-hidden arcs remain inferred.", + "B lowers mean projected-mask distance in all four views. Its overall mean depth-point distance also falls slightly, but median depth residuals increase in 12540311 and 12933256 while decreasing in 17736741 and 23007103. This is not a uniform accuracy gain.", + "The 1000-sample curvature display shows more localized variation in B, a sharper peak at one bend and a reduced peak at the other. Normalized spline parameters are not matched material points, so the pointwise plot is descriptive.", + "No visible wrong-loop placement or centerline self-crossing was seen. Tube validity has not been assessed for either variant." + ], + "metrics": { + "baseline_mean_3d_mm": 8.475363123418058, + "A_mean_3d_mm": 8.461466040044444, + "B_mean_3d_mm": 8.389742558768171, + "baseline_mean_2d_mm": 3.32517205807557, + "A_mean_2d_mm": 3.33030487261614, + "B_mean_2d_mm": 3.230299700766787 + }, + "recommendation": "Prepare the full B tube/color/hybrid prior for owner review, subject to owner direction. The observed improvement is modest; do not treat this comparison as final prior or recipe acceptance.", + "display_note": "Combined overlays: baseline blue, A orange, B green. Some narrow-image title text is clipped; the table and separate panels identify all settings." +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/chain_centerline_comparison_v1/comparison_metrics.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/chain_centerline_comparison_v1/comparison_metrics.json new file mode 100644 index 0000000000000000000000000000000000000000..f3ba921bd5f9659532b20f82c46624fc21367adc --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/chain_centerline_comparison_v1/comparison_metrics.json @@ -0,0 +1,401 @@ +{ + "baseline": { + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1", + "control_count": 9, + "curvature_weight": 5e-08, + "rounds": 2, + "stop": 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"scripts/real_rgbd_appearance_spline_prior.py", + "colors", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "environment": { + "JAX_PLATFORMS": "cpu" + } +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_colors_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_colors_result.json new file mode 100644 index 0000000000000000000000000000000000000000..d00731269beba899c164426e65d161a34fb51bf8 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_colors_result.json @@ -0,0 +1,4 @@ +{ + "returncode": 0, + "elapsed_s": 2.7009595690033166 +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_diagnose_depth.log b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_diagnose_depth.log new file mode 100644 index 0000000000000000000000000000000000000000..3a25fd74c6f4dcca15a00beed362610699bf54ff --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_diagnose_depth.log @@ -0,0 +1 @@ +diagnose-depth: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/diagnose-depth.json diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_diagnose_depth_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_diagnose_depth_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..3c24eee831a1500dbdf08f8fdb511b4394b843af --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_diagnose_depth_argv.json @@ -0,0 +1,12 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "scripts/real_rgbd_appearance_spline_prior.py", + "diagnose-depth", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "environment": { + "JAX_PLATFORMS": "cpu" + } +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_diagnose_depth_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_diagnose_depth_result.json new file mode 100644 index 0000000000000000000000000000000000000000..13999fe321f2ef68fe6f73e6999a93a47a39ada7 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_diagnose_depth_result.json @@ -0,0 +1,4 @@ +{ + "returncode": 0, + "elapsed_s": 1.5623434959998121 +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_fit.log b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_fit.log new file mode 100644 index 0000000000000000000000000000000000000000..bca58a15fb81d07c271ae6930dc9f9eb5871489e --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_fit.log @@ -0,0 +1,53 @@ +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! +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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/fit.json diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_fit_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_fit_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..f2f0d6fc218f59d0b0ed692a973276ef55d81fbf --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_fit_argv.json @@ -0,0 +1,18 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "scripts/real_rgbd_appearance_spline_prior.py", + "fit", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1", + "--outlier-filter", + "statistical:20:2.0", + "--max-rounds", + "400", + "--reprojection-weight", + "4" + ], + "environment": { + "JAX_PLATFORMS": "cpu" + } +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_fit_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_fit_result.json new file mode 100644 index 0000000000000000000000000000000000000000..07028af0799727f99de54493618330219b9ff590 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_fit_result.json @@ -0,0 +1,4 @@ +{ + "returncode": 0, + "elapsed_s": 23.563939784995455 +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_hybrid.log b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_hybrid.log new file mode 100644 index 0000000000000000000000000000000000000000..2996b95ff4b42f4ccb2b7d9b6939de0a762fd1a4 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_hybrid.log @@ -0,0 +1 @@ +hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/hybrid.json diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_hybrid_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_hybrid_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..ca504a1ad6416c465024d002f8bd88602b1f3426 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_hybrid_argv.json @@ -0,0 +1,12 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "scripts/real_rgbd_appearance_spline_prior.py", + "hybrid", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "environment": { + "JAX_PLATFORMS": "cpu" + } +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_hybrid_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_hybrid_result.json new file mode 100644 index 0000000000000000000000000000000000000000..6304c7dd80d97c65be85d598999968e6dfebc1be --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_hybrid_result.json @@ -0,0 +1,4 @@ +{ + "returncode": 0, + "elapsed_s": 2.319133157005126 +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_inputs.log b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_inputs.log new file mode 100644 index 0000000000000000000000000000000000000000..48684b060c97ba0203efc71b1de43d3949293156 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_inputs.log @@ -0,0 +1 @@ +inputs: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/inputs.json diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_inputs_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_inputs_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..92d3f58468dd8de060fecbd8da12ef6f60f3d85f --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_inputs_argv.json @@ -0,0 +1,27 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "scripts/real_rgbd_appearance_spline_prior.py", + "inputs", + "--result-root", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747", + "--object", + "bike_chain", + "--unfitted-inputs", + "--fitting-bundle", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/rt3_lifts/fitting/fitting_observations.npz", + "--frames-bundle", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/frames_waft.npz", + "--occluder-signoff", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/review_signoff_occluder.json", + "--depth-source", + "waft_stereo_dav2l5", + "--mask-erosion-px", + "2", + "--out", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "environment": { + "JAX_PLATFORMS": "cpu" + } +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_inputs_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_inputs_result.json new file mode 100644 index 0000000000000000000000000000000000000000..322e0cf90e978bd70601a21d76a870ce0a3e55bc --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_inputs_result.json @@ -0,0 +1,4 @@ +{ + "returncode": 0, + "elapsed_s": 23.38903138200112 +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_manifest.log b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_manifest.log new file mode 100644 index 0000000000000000000000000000000000000000..b9f9d1ef99b7440d9fb3921e2ff822aa521facbb --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_manifest.log @@ -0,0 +1 @@ +/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1/manifest.json diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_manifest_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_manifest_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..a65ab24f123979134e0f82aa9825104f95def1f8 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_manifest_argv.json @@ -0,0 +1,12 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "scripts/real_rgbd_appearance_spline_prior.py", + "manifest", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "environment": { + "JAX_PLATFORMS": "cpu" + } +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_manifest_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_manifest_result.json new file mode 100644 index 0000000000000000000000000000000000000000..d93d9efcfb8978159a09dd465eefc64dfc057f6b --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_manifest_result.json @@ -0,0 +1,4 @@ +{ + "returncode": 0, + "elapsed_s": 1.376495734002674 +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review.log b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review.log new file mode 100644 index 0000000000000000000000000000000000000000..402fa3343c4aa85597707b177070ba73389813f5 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review.log @@ -0,0 +1 @@ +review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/review.json diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..f22030aa7311e3eefc12edb7663cc982e29b058a --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_argv.json @@ -0,0 +1,12 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "scripts/real_rgbd_appearance_spline_prior.py", + "review", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "environment": { + "JAX_PLATFORMS": "cpu" + } +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/AGENT_FINDINGS.md b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/AGENT_FINDINGS.md new file mode 100644 index 0000000000000000000000000000000000000000..f8ed756587bf0cad770196fbbbac21a131cee7ff --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/AGENT_FINDINGS.md @@ -0,0 +1,29 @@ +# 233248 variant B — saved prior review + +The full prior is complete and the saved products are internally consistent. Direct inspection of **21 stable panels and 9 orbit frames** found no material geometry or packaging issue. **Owner prior approval remains pending.** This is a review of the prepared candidate; it grants no mechanics, appearance-training or fit authorization. + +The saved **18-control, curvature-weight 5e-9** centerline was reused exactly. Its preparation-decision identity, reused input bytes, and the original baseline fit and manifest were checked unchanged. All five full-prior stages and the single packaging/check runner returned zero. Seven saved NPZ families were checked for finite arrays and the mesh, colors and hybrid population were checked for correspondence. [Numerical checks](numeric_prior_review.json) · [Exact visual inspection record](agent_visual_review.json) · [Saved metrics and camera links](PRIOR_REVIEW_c6a_v1.md). + +## Observed geometry and camera agreement + +The four input, centerline and unmasked tube-overlay sets show the centerline and tube following the visible chain arcs. Camera 12933256 has substantial forearm/sleeve occlusion. Closures beneath hands or sleeve are inferred portions of the closed-loop model; their unmasked overlays are not direct observations. + +The 3D, scale and profile panels and orbit frames show one continuous loop with smooth height variation. No gross crossing, disconnection or seam opening was visible. The saved orbit is a point/ring visualization; frames **0, 4, 9, 13, 18, 22, 26, 31 and 35 of 36** were inspected. [Rotation video](../chain_centerline_comparison_v1/variant_b/review/tube/orbit.mp4) · [Inspected frames](orbit_frames.json). + +The actual tube has **144 rings, 1,728 vertices and 3,456 triangles** at the unchanged **4.75 mm radius**, step_t 0.125 and 30-degree circumferential spacing. Checks report one watertight component, consistent winding, no degenerate triangles, zero seam error and **zero confirmed surface-intersection pairs**. Recomputed maximum radial error is **6.80e-9 m**. The chain's approved surface-intersection rule is used: the 6.288 mm minimum nonadjacent-centerline distance is diagnostic and is not substituted for triangle-intersection testing. This remains a continuous tube approximation to linked chain geometry. + +## Preserved fit and depth limits + +The fit stopped after one round on gradient tolerance (the solver limit was 25 iterations per round), with gradient norm **6.25671e-5**. Length is **585.423 mm**, **0.423 mm above** the soft 585.000 mm upper bound; maximum curvature is **105.470/m**. The displayed 10/m curvature threshold and 80/m smooth saturation scale describe a soft penalty, not hard curvature bounds. No refit, clamp or corrective depth adjustment was applied. + +The lifted depth clouds visibly spread outside the tube and include sparse off-loop points. Saved per-camera median/p90 point-to-centerline residuals are **8.537/13.844, 5.779/19.997, 6.131/10.572 and 10.543/17.982 mm** in serial order 12540311, 12933256, 17736741, 23007103. The sparse longest tail reaches 65.329 mm in camera 12933256. These residuals are not ground-truth reconstruction errors. Visible centerline-in-mask fractions are **99.02%, 94.89%, 97.90% and 98.52%**; they are not silhouette IoU. The read-only object-minus-local-table diagnostic remains **18.668–31.743 mm**, without correction. + +The saved round-curves image appears blank because a single round is drawn as an unmarked line. The fit report and rounds.jsonl retain the numerical values; this presentation limitation does not erase the fit evidence. + +## Colors and appearance initialization + +Colors are observed for **1,089 vertices** and median-filled for **639/1,728 (36.98%)**, concentrated on underside and occluded end regions. Color arrays are finite and in range, and saved GLB roundtrip checks report exact float32 positions and vertex colors. + +The hybrid population contains **18,412 observed + 103,680 mesh-derived = 122,092 seeds**. Observed coordinates and colors exactly match the saved filtered cloud. Retaining step_t 0.125 with 18 controls doubles the longitudinal ring and triangle counts relative to the 9-control baseline: mesh seeds increase from **51,840 to 103,680**, and total seeds from **70,252 to 122,092**. Observed seeds remain 18,412. These are appearance seeds and mesh vertices; no mechanical particle population or mass total is assessed here. + +The owner can now review this candidate for separate prior acceptance. The centerline, baseline products, case status and approval records were not changed by this review. diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..11893899c4901a4c8ca83fa24b6385fdbf4d6c9f --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,39 @@ +# session_20260921_233248_177244 — prior approval pending + +Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual inspection is complete; [findings and limitations](AGENT_FINDINGS.md) cover 21 stable panels and 9 orbit frames. Owner prior approval remains pending. The saved-value tables below record no acceptance. + +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](). + +| Camera | Local / converted / native | Centerline / geometry / native input | +|---|---|---| +| 12540311 | 0 / 208 / 209 | [centerline](<../chain_centerline_comparison_v1/variant_b/review/spline/centerline_0_with_masks.png>) · [tube](<../chain_centerline_comparison_v1/variant_b/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../chain_centerline_comparison_v1/variant_b/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../chain_centerline_comparison_v1/variant_b/review/inputs/view_0_12540311.png>) | +| 12933256 | 1 / 208 / 209 | [centerline](<../chain_centerline_comparison_v1/variant_b/review/spline/centerline_1_with_masks.png>) · [tube](<../chain_centerline_comparison_v1/variant_b/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../chain_centerline_comparison_v1/variant_b/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../chain_centerline_comparison_v1/variant_b/review/inputs/view_1_12933256.png>) | +| 17736741 | 0 / 208 / 209 | [centerline](<../chain_centerline_comparison_v1/variant_b/review/spline/centerline_2_with_masks.png>) · [tube](<../chain_centerline_comparison_v1/variant_b/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../chain_centerline_comparison_v1/variant_b/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../chain_centerline_comparison_v1/variant_b/review/inputs/view_2_17736741.png>) | +| 23007103 | 0 / 208 / 209 | [centerline](<../chain_centerline_comparison_v1/variant_b/review/spline/centerline_3_with_masks.png>) · [tube](<../chain_centerline_comparison_v1/variant_b/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../chain_centerline_comparison_v1/variant_b/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../chain_centerline_comparison_v1/variant_b/review/inputs/view_3_23007103.png>) | + +[Full rotation video](<../chain_centerline_comparison_v1/variant_b/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../chain_centerline_comparison_v1/variant_b/review/tube/tube_scale_views.png>) · [Residual histograms](<../chain_centerline_comparison_v1/variant_b/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../chain_centerline_comparison_v1/variant_b/review/inputs/depth_offset.png>) + +Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **585.423 mm**, maximum curvature **105.470/m**, final gradient norm **6.25671e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.423 mm. + +Saved geometry checks report `passed=True`: **1728 mesh vertices / 3456 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../chain_centerline_comparison_v1/variant_b/tube/tube_checks.json>). + +The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. + +| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | +|---|---|---|---| +| 12540311 | 8.537 / 13.844 | 99.02% | [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 | 5.779 / 19.997 | 94.89% | [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 | 6.131 / 10.572 | 97.90% | [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 | 10.543 / 17.982 | 98.52% | [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 **18412 of 18889** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. + +Appearance initialization contains **18412 observed + 103680 mesh-derived = 122092 seeds**. Vertex colors are observed for 1089 mesh vertices and median-filled for 639. 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](<../chain_centerline_comparison_v1/variant_b/review/hybrid/combined.png>) · [Observed and filled colors](<../chain_centerline_comparison_v1/variant_b/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>) + +[Manifest](<../chain_centerline_comparison_v1/variant_b/manifest.json>) · [Fit settings and metrics](<../chain_centerline_comparison_v1/variant_b/steps/fit.json>) · [Reference observations](<../chain_centerline_comparison_v1/variant_b/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) + +The completed bounded visual review is recorded in [agent findings](AGENT_FINDINGS.md) and [the exact inspection list](agent_visual_review.json). Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. + +Owner accepted this exact variant B prior on 2026-10-28 for mechanical input preparation and static appearance training; see `../../owner_prior_acceptance_c6a_v1.json`. Trained appearance review remains separate. diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/agent_visual_review.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/agent_visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..ad6cbc0af403c50a9891b58028f1e31cecdd4281 --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/agent_visual_review.json @@ -0,0 +1,181 @@ +{ + "scope": "variant-B saved prior only", + "inspection_completed_utc": "2026-10-28T21:46:27.789123+00:00", + "stable_panels": [ + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/inputs/view_0_12540311.png", + "inspected": true, + "finding": "Object mask follows the visible chain; hand/occluder union covers hidden portions. No broad red invalid-depth region visible." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/inputs/view_1_12933256.png", + "inspected": true, + "finding": "Object mask follows the visible chain; hand/occluder union covers hidden portions. No broad red invalid-depth region visible." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/inputs/view_2_17736741.png", + "inspected": true, + "finding": "Object mask follows the visible chain; hand/occluder union covers hidden portions. No broad red invalid-depth region visible." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/inputs/view_3_23007103.png", + "inspected": true, + "finding": "Object mask follows the visible chain; hand/occluder union covers hidden portions. No broad red invalid-depth region visible." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/spline/centerline_0_with_masks.png", + "inspected": true, + "finding": "Projected centerline follows visible chain arcs; closures continue beneath hand/occluder regions." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/spline/centerline_1_with_masks.png", + "inspected": true, + "finding": "Projected centerline follows visible chain arcs; closures continue beneath hand/occluder regions. Most of the return arc is hidden by the forearm and sleeve." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/spline/centerline_2_with_masks.png", + "inspected": true, + "finding": "Projected centerline follows visible chain arcs; closures continue beneath hand/occluder regions." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/spline/centerline_3_with_masks.png", + "inspected": true, + "finding": "Projected centerline follows visible chain arcs; closures continue beneath hand/occluder regions." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/tube/silhouette_0_unmasked.png", + "inspected": true, + "finding": "Smooth single-loop silhouette broadly follows the observed chain. Unmasked overlay also draws inferred geometry over hands/occluders; that part is not observed validation." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/tube/silhouette_1_unmasked.png", + "inspected": true, + "finding": "Smooth single-loop silhouette broadly follows the observed chain. Unmasked overlay also draws inferred geometry over hands/occluders; that part is not observed validation." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/tube/silhouette_2_unmasked.png", + "inspected": true, + "finding": "Smooth single-loop silhouette broadly follows the observed chain. Unmasked overlay also draws inferred geometry over hands/occluders; that part is not observed validation." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/tube/silhouette_3_unmasked.png", + "inspected": true, + "finding": "Smooth single-loop silhouette broadly follows the observed chain. Unmasked overlay also draws inferred geometry over hands/occluders; that part is not observed validation." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/tube/tube_scale_views.png", + "inspected": true, + "finding": "Closed loop and fixed 9.5mm diameter are coherent. Lifted point clouds spread outside the tube, especially in height; no correction applied." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/spline/residual_histograms.png", + "inspected": true, + "finding": "Per-view centerline-distance distributions retain broad tails. View1 has sparse points out to about65mm; view3 is broad through20mm. These are lifted-depth residuals, not ground-truth reconstruction errors." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/inputs/depth_offset.png", + "inspected": true, + "finding": "Read-only object-minus-local-table medians span18.668..31.743mm. No correction applied." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/colors/visibility_and_fill.png", + "inspected": true, + "finding": "Observed colors cover1089 vertices and median fill covers639/1728(36.979%). Filled regions concentrate on underside and occluded ends." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/hybrid/combined.png", + "inspected": true, + "finding": "Observed18412 and mesh103680 seed populations form the same closed loop; observed depth spread and sparse off-loop points remain visible." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/spline/fit_3d.png", + "inspected": true, + "finding": "18-control closed centerline coherently threads the observed loop, with occluded end closures inferred. Vertical axis is expanded and observations retain depth spread." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/spline/curvature_profile.png", + "inspected": true, + "finding": "Localized peak105.470/m exceeds the displayed80/m smooth saturation scale;10/m is the soft penalty onset. Neither is a hard curvature guarantee." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/spline/round_curves.png", + "inspected": true, + "finding": "Plot appears blank because saved fitting has one25-iteration round and the line plot uses no visible marker. Use rounds.jsonl and fit report for the single-round values." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b/review/tube/tube_profiles.png", + "inspected": true, + "finding": "Continuous closed loop with smooth height variation, fixed9.5mm diameter, no visible crossing or broken seam. Side/oblique vertical display is expanded." + } + ], + "stable_panel_count": 21, + "orbit_inspection_pending": false, + "owner_prior_approval": "pending", + "orbit_frames": [ + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/orbit_frames/frame_000.png", + "frame_index": 0, + "inspected": true, + "finding": "Closed single loop remains coherent from this azimuth; smooth height variation and ring sampling are visible, with no gross crossing, disconnection or seam opening." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/orbit_frames/frame_004.png", + "frame_index": 4, + "inspected": true, + "finding": "Closed single loop remains coherent from this azimuth; smooth height variation and ring sampling are visible, with no gross crossing, disconnection or seam opening." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/orbit_frames/frame_009.png", + "frame_index": 9, + "inspected": true, + "finding": "Closed single loop remains coherent from this azimuth; smooth height variation and ring sampling are visible, with no gross crossing, disconnection or seam opening." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/orbit_frames/frame_013.png", + "frame_index": 13, + "inspected": true, + "finding": "Closed single loop remains coherent from this azimuth; smooth height variation and ring sampling are visible, with no gross crossing, disconnection or seam opening." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/orbit_frames/frame_018.png", + "frame_index": 18, + "inspected": true, + "finding": "Closed single loop remains coherent from this azimuth; smooth height variation and ring sampling are visible, with no gross crossing, disconnection or seam opening." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/orbit_frames/frame_022.png", + "frame_index": 22, + "inspected": true, + "finding": "Closed single loop remains coherent from this azimuth; smooth height variation and ring sampling are visible, with no gross crossing, disconnection or seam opening." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/orbit_frames/frame_026.png", + "frame_index": 26, + "inspected": true, + "finding": "Closed single loop remains coherent from this azimuth; smooth height variation and ring sampling are visible, with no gross crossing, disconnection or seam opening." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/orbit_frames/frame_031.png", + "frame_index": 31, + "inspected": true, + "finding": "Closed single loop remains coherent from this azimuth; smooth height variation and ring sampling are visible, with no gross crossing, disconnection or seam opening." + }, + { + "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_review_chain_b_v1/orbit_frames/frame_035.png", + "frame_index": 35, + "inspected": true, + "finding": "Closed single loop remains coherent from this azimuth; smooth height variation and ring sampling are visible, with no gross crossing, disconnection or seam opening." + } + ], + "orbit_frame_count": 9, + "assessment": "No material geometry or packaging issue found in the bounded saved-prior review; limitations below remain part of the owner acceptance decision.", + "limitations": [ + "Continuous 9.5mm-diameter tube approximates the linked chain; individual links are not modeled.", + "Hidden closures under hands/sleeve remain inferred; visible camera overlays do not validate those arcs directly.", + "Depth clouds retain spread and sparse off-loop points; centerline residuals are not ground-truth shape errors.", + "Length585.423mm exceeds the soft585.000mm upper bound by0.423mm; maximum curvature105.470/m exceeds the80/m smooth saturation scale. Neither is a hard feasibility constraint.", + "639/1728 vertex colors(36.979%) are median-filled, mainly on underside and occluded ends.", + "The one-round convergence line plot appears blank without markers; saved numeric fit/round records remain available.", + "Orbit review inspected9 uniformly distributed frames out of36, not every frame. The orbit is a point/ring visualization." + ] +} diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/numeric_prior_review.json b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/numeric_prior_review.json new file mode 100644 index 0000000000000000000000000000000000000000..6213b958c96b3167417dc2f874364465b58afc2f --- /dev/null +++ b/sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_b_v1/numeric_prior_review.json @@ -0,0 +1,610 @@ +{ + "scope": "Saved variant-B prior review only; no fitting, sampling or scientific correction executed by this reviewer.", + "stage_results": { + "tube": { + "returncode": 0, + "elapsed_s": 472.7576503290038 + }, + "colors": { + "returncode": 0, + "elapsed_s": 164.8647543900006 + }, + "hybrid": { + "returncode": 0, + "elapsed_s": 327.4266721489985 + }, + 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