sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1: payload batch 4/4

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json

@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 269.63762669400603
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_center_v3.log

@@ -0,0 +1,36 @@
+{
+ "populations": {
+  "N": 758,
+  "S": 945,
+  "A": 946,
+  "added_surface": 187,
+  "interior": 1,
+  "controls": 30,
+  "controls_by_hand": {
+   "hand_A": 30
+  }
+ },
+ "denominators": {
+  "D_V": 726,
+  "D_M": 724
+ },
+ "graph": {
+  "object_springs": 14903,
+  "controller_springs": 796,
+  "object_rest_min_max_m": [
+   0.0003297919756732881,
+   0.01999635435640812
+  ],
+  "controller_rest_min_max_m": [
+   0.002989849541336298,
+   0.0399949811398983
+  ],
+  "isolated_object_nodes": 0,
+  "attached_object_nodes": 111,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 796
+  }
+ },
+ "passed": true
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_argv.json

@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/mechanics_v3"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 2.228849135004566
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json

@@ -0,0 +1,36 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230338_900969",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "ee9e6311affcc4949fb30e0bd5f90c2e9a848a26e6f53566f6c559eb87ad06d3",
+    "--accepted-prior-manifest-sha256",
+    "aefd70fed5f138346defe44e16ef88a3fdccb08e8ac85686390cb451b64b39b6",
+    "--participating-hand",
+    "hand_A",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/mechanics_v3/mesh/binding.json",
+    "--premesh-fitting",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/rt3_lifts/fitting",
+    "--mesh-rules",
+    "m2_10mm_centerline_voxels_v3",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 399.4576463400008
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_v2_argv.json

@@ -0,0 +1,32 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230338_900969",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "ee9e6311affcc4949fb30e0bd5f90c2e9a848a26e6f53566f6c559eb87ad06d3",
+    "--accepted-prior-manifest-sha256",
+    "aefd70fed5f138346defe44e16ef88a3fdccb08e8ac85686390cb451b64b39b6",
+    "--participating-hand",
+    "hand_A",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/prior_orange_v1",
+    "--mesh-rules",
+    "m2_10mm_centerline_core_v2",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/mechanics_v2"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_v2_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 139.4714807029959
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_v3_argv.json

@@ -0,0 +1,34 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230338_900969",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "ee9e6311affcc4949fb30e0bd5f90c2e9a848a26e6f53566f6c559eb87ad06d3",
+    "--accepted-prior-manifest-sha256",
+    "aefd70fed5f138346defe44e16ef88a3fdccb08e8ac85686390cb451b64b39b6",
+    "--participating-hand",
+    "hand_A",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/prior_orange_v1",
+    "--mesh-rules",
+    "m2_10mm_centerline_voxels_v3",
+    "--retained-samples-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/mechanics_v2/mesh/binding.json",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230338_900969/window_anchor0305-0744/accepted_input_preparation_c6a_v1/mechanics_v3"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/mech_v3_completion_readback.json

@@ -0,0 +1,30 @@
+{
+  "verified_utc": "2026-10-28T17:59:06.262985+00:00",
+  "runner_exit_code": 143,
+  "stage_exit_code": null,
+  "cause": "Runner terminated by signal15; initiating source unknown. Stage exit record unavailable.",
+  "status": "complete scientific outputs verified without rerun",
+  "checks": {
+    "raw_samples": "bound hash and full array read passed",
+    "selection": "bound hash and full array read passed",
+    "initial_distances": "bound hash and full array read passed",
+    "association": "bound hash and full array read passed",
+    "controller_gate": "bound hash and full array read passed",
+    "fitting_observations": "bound hash and full array read passed",
+    "raw_v2_sample_arrays_retained_exactly": true,
+    "raw_lineage_note": "Lineage differs as expected: v3 records shared voxel rules and retained_from source; sample arrays are unchanged."
+  },
+  "input_gate_passed": true,
+  "populations": {
+    "N": 758,
+    "S": 945,
+    "A": 946
+  },
+  "source_write_order": "prepare_retained_mesh writes report.json after all bound scientific outputs, then returns the input gate result.",
+  "remaining_stages": [
+    "mech_center_v3",
+    "mech_supervision",
+    "mech_center_supervision"
+  ],
+  "passed": true
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md

@@ -0,0 +1,45 @@
+# session_20260921_230338_900969 — prior accepted
+
+Saved C2 **orange_round_belt** prior evidence (radius 2.95 mm). **Agent numerical/visual review is complete; owner prior approval was recorded on 2026-10-28.** The projected centerlines and tube silhouettes follow the visible orange loop in all four initial views, with small local edge offsets. The hand-hidden arc and underside remain inferred geometry.
+
+Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](<prior_metrics.json>).
+
+| Camera | Local / converted / native | Centerline / geometry / native input |
+|---|---|---|
+| 12540311 | 0 / 305 / 306 | [centerline](<../prior_orange_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 0 / 304 / 305 | [centerline](<../prior_orange_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_1_12933256.png>) |
+| 17736741 | 0 / 305 / 306 | [centerline](<../prior_orange_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_2_17736741.png>) |
+| 23007103 | 0 / 304 / 305 | [centerline](<../prior_orange_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_orange_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_orange_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_orange_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_orange_v1/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 round**, stop `gradient_tolerance`; final length **640.020 mm**, maximum curvature **18.590/m**, final gradient norm **5.9177e-05**. Soft length bounds are 635.000–660.000 mm; distance outside those bounds is 0.000 mm.
+
+Saved geometry checks report `passed=True`: **864 mesh vertices / 1728 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_orange_v1/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 | 5.521 / 9.577 | 99.66% | [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 | 5.499 / 7.570 | 99.43% | [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 | 8.123 / 9.948 | 98.40% | [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 | 6.715 / 8.939 | 99.41% | [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 **15183 of 15890** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **15183 observed + 51840 mesh-derived = 67023 seeds**. Vertex colors are observed for 599 mesh vertices and median-filled for 265. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages.
+
+[Appearance seed populations](<../prior_orange_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_orange_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>)
+
+[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>)
+
+[Manifest](<../prior_orange_v1/manifest.json>) · [Fit settings and metrics](<../prior_orange_v1/steps/fit.json>) · [Reference observations](<../prior_orange_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+**Depth and contact limitation:** the observed cloud is spread laterally and above the fitted tube, with a local higher-z patch in the spatial plots. Minimum tube z is **−0.989 mm** relative to the nominal z=0 table plane. The read-only depth diagnostic gives belt-interior-minus-local-table medians of **9.372, 5.265, 9.158 and 6.046 mm** in the listed camera order. These camera-dependent offsets and the depth spread leave vertical placement and table contact uncertain. No depth correction was applied.
+
+The smooth, nearly planar oval shows no gross crossing, detached component or kink in the inspected views. One round stopped at the configured gradient tolerance; maximum curvature is 18.590/m and 36% of evaluated samples exceed the soft 10/m curvature regularization threshold. That threshold is not a hard acceptance bound, and this review does not establish global optimality. Median-filled colors on the underside and occluded arc are initialization values, not observed texture.
+
+[Agent findings and exact review coverage](<agent_findings.json>) record inspection of all four initial native RGB/mask/occluder/invalid-depth panels, all four centerline overlays, four tube-with-mask plus four unmasked tube overlays, the five spatial/residual/depth/color/hybrid plots linked above, and orbit frames **0, 4, 8, 12, 16, 20, 24, 28, 32** of 36. The orbit displays sampled tube rings/vertices; continuous surface topology is supported by the saved numerical checks, not inferred from that visualization. The prior payload was read only, and the completed temporal-reference review was not repeated.
+
+Owner accepted this exact prior on 2026-10-28 for mechanical input preparation and reference static appearance training. Trained-appearance acceptance and physical fitting remain separate. The agent findings preserve their original pre-approval review time.

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json

@@ -0,0 +1,184 @@
+{
+  "case": "session_20260921_230338_900969/window_anchor0305-0744",
+  "reviewed_at_utc": "2026-10-28T17:37:21.536579+00:00",
+  "review_kind": "bounded agent review of the completed C2 orange-round-belt prior",
+  "readiness": "ready_for_owner_prior_review_with_recorded_depth_and_table_plane_limitations",
+  "blocking_findings": [],
+  "owner_prior_approval": "pending; this record does not grant owner acceptance or authorize downstream stages",
+  "scope": {
+    "goal": "Assess saved initial prior geometry and appearance initialization against the native observations.",
+    "done_when": "Four input panels, four centerline overlays, eight tube overlays, five spatial/diagnostic plots and at least eight orbit samples have been inspected and limitations recorded.",
+    "non_goals": [
+      "No prior, tracking, lifting or settings changes or reruns",
+      "No mechanics, static appearance training or physical fitting",
+      "No acceptance or case-status changes"
+    ],
+    "validation": "21 saved images and 9 evenly spaced frames from the 36-frame orbit; saved metrics, fit settings, geometry checks and depth/color reports. The prior payload was read only."
+  },
+  "image_path_base": "../prior_orange_v1/review",
+  "inspected_images": [
+    "inputs/view_0_12540311.png",
+    "inputs/view_1_12933256.png",
+    "inputs/view_2_17736741.png",
+    "inputs/view_3_23007103.png",
+    "spline/centerline_0_with_masks.png",
+    "spline/centerline_1_with_masks.png",
+    "spline/centerline_2_with_masks.png",
+    "spline/centerline_3_with_masks.png",
+    "tube/silhouette_0_with_masks.png",
+    "tube/silhouette_1_with_masks.png",
+    "tube/silhouette_2_with_masks.png",
+    "tube/silhouette_3_with_masks.png",
+    "tube/silhouette_0_unmasked.png",
+    "tube/silhouette_1_unmasked.png",
+    "tube/silhouette_2_unmasked.png",
+    "tube/silhouette_3_unmasked.png",
+    "tube/tube_scale_views.png",
+    "inputs/depth_offset.png",
+    "spline/residual_histograms.png",
+    "colors/visibility_and_fill.png",
+    "hybrid/combined.png"
+  ],
+  "inspected_videos": {
+    "../prior_orange_v1/review/tube/orbit.mp4": {
+      "frame_count": 36,
+      "fps": 12,
+      "duration_s": 3,
+      "visually_inspected_frame_indices": [
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+        4,
+        8,
+        12,
+        16,
+        20,
+        24,
+        28,
+        32
+      ],
+      "visual_method": "Individual decoded frames at 0.333-second intervals; no continuous-playback claim. The video plots tube rings/vertices rather than a shaded continuous surface."
+    }
+  },
+  "inspected_data": [
+    "prior_metrics.json",
+    "../prior_orange_v1/steps/fit.json",
+    "../prior_orange_v1/spline/spline_fit.json",
+    "../prior_orange_v1/spline/witness.json",
+    "../prior_orange_v1/tube/tube_checks.json",
+    "../prior_orange_v1/inputs/depth_offset_diagnostic.json",
+    "../prior_orange_v1/colors/color_summary.json"
+  ],
+  "saved_metrics": {
+    "radius_mm": 2.9499999999999997,
+    "reprojection_weight": 4.0,
+    "fit_rounds": 1,
+    "fit_stop": "gradient_tolerance",
+    "gradient_norm": 5.917699309065938e-05,
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+    "fraction_above_curvature_regularization_threshold": 0.36,
+    "tube_vertices": 864,
+    "tube_triangles": 1728,
+    "saved_geometry_checks": {
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+      "watertight": true,
+      "components": 1,
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+        "median": 6.7428646527948815e-06,
+        "mean": 6.7813282125382675e-06,
+        "max": 8.304900161123297e-06,
+        "density_max_over_min": 1.6102322616301903
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+      "bounds_m": [
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+      "step_t": 0.125,
+      "step_angle_deg": 30,
+      "passed": true,
+      "orientation_flipped": true
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+    "depth_belt_minus_local_table_mm_by_serial": {
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+    "depth_correction_applied": false,
+    "per_view": {
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+        "p90_centerline_distance_mm": 7.569953892379999,
+        "visible_centerline_inside_mask_fraction": 0.9942528735632183
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+      "17736741": {
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+        "visible_centerline_inside_mask_fraction": 0.983974358974359
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+      "23007103": {
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+    "appearance_seeds": {
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+      "mesh": 51840,
+      "total": 67023,
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+    "vertex_colors": {
+      "observed_vertices": 599,
+      "filled_vertices": 265
+    },
+    "mechanical_population": {
+      "particle_count": null,
+      "total_unit_mass": null,
+      "status": "not produced by the prior run; no post-prior mechanics are evaluated here"
+    }
+  },
+  "observations": [
+    "The four native input panels show one orange oval loop and a local hand-occluded arc. Object masks follow the visible loop, with a narrow visible segment beside the fingers in view2. No conspicuous invalid-depth overlay patch was seen inside the visible belt at displayed resolution.",
+    "All four projected centerlines and tube silhouettes follow the visible orange contour closely. Small local edge offsets remain, including inward placement on portions of the lower/front arc in view1; no gross wrong-loop displacement, crossing, detached component or kink was observed.",
+    "The spatial views and nine orbit samples show a coherent nearly planar oval with small height variation. Saved geometry checks report one watertight component, consistent winding, zero degenerate triangles and no self-intersection; these are saved numerical checks rather than conclusions from the ring-rendered orbit.",
+    "The depth-cloud and hybrid plots show observed points spread laterally and above the fitted tube. A localized higher-z patch is visible in the front/side spatial plots. Centerline residual histograms have tails beyond 10 mm in views 0, 2 and 3; view 2 has the largest median residual, 8.123 mm.",
+    "The color plot distinguishes 599 observed-color vertices from 265 median-filled vertices. The filled population lies mainly on the underside and the occluded arc. Hybrid initialization has 15,183 observed plus 51,840 mesh-derived seeds, total 67,023."
+  ],
+  "limitations": [
+    "The hand-hidden arc and underside remain inferred geometry. Projecting the prior across the hand does not reveal the hidden shape, and filled vertex colors are not observed texture.",
+    "Minimum tube z is -0.989095 mm relative to the nominal z=0 table plane. The read-only depth diagnostic gives belt-interior-minus-local-table medians of 9.372, 5.265, 9.158 and 6.046 mm by listed camera order. Camera-dependent offsets and depth spread leave vertical placement and table contact uncertain; no depth correction was applied.",
+    "The 5.499\u20138.123 mm per-view median 3D residuals are observed-point-to-centerline distances, including tube surface radius and measurement/model differences; they are not ground-truth reconstruction errors. The 98.40\u201399.66 percent centerline-in-mask fractions are not silhouette IoU.",
+    "One optimization round stopped at the configured gradient tolerance. Maximum curvature is 18.590/m and 36 percent of samples exceed the configured 10/m curvature regularization threshold. That threshold is part of the soft loss, not a hard geometry acceptance test, and this review does not establish global optimality.",
+    "The orbit is a sampled vertex/ring plot, not a continuous mesh-surface render. This review samples nine of its 36 frames and does not repeat the already completed temporal-reference review.",
+    "Mesh vertices and appearance seeds are separate populations from mechanical particles. This prior run supplies no post-prior mechanical particle count, unit-mass total, trained appearance or physical-fit result."
+  ]
+}

sessions/session_20260921_230338_900969/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json

@@ -0,0 +1,500 @@
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