diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/C6A_REVIEW.md b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/C6A_REVIEW.md
new file mode 100644
index 0000000000000000000000000000000000000000..92cf8579230b8ff19dcd44577ecdf7047104b14b
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/C6A_REVIEW.md
@@ -0,0 +1,41 @@
+# session_20260921_230550_636767: C6a proposal review
+
+**Status: agent proposal; owner mask/window/contact decisions pending.**
+
+Object: taped round belt. Motion: two-handed lift completely off the table on minor axis, lateral shearing cycles, then place down.
+Current packet anchor converted frames: **278–554 inclusive**.
+Current packet endpoint sync timestamps: `1790046383497843427` / `1790046392730699253` ns.
+Participating identities: `hand_A+hand_B`; A is the right, bracelet-wearing hand, B the left.
+Hands mean visible bare forearm through fingertips, excluding bracelet/sleeve. Occluder means the whole visible person, including clothing, accessories and nonparticipating hands.
+
+C1 evidence: `/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_proposal_c1/proposal.json`.
+
+**Unequal counts:** the four products below each consume only their named camera’s own column. Other nearest-camera columns in those NPZ files are not admitted source clocks. C1a is required before tracking/lifting/fitting-input consumers use this case.
+
+## Exact own-camera mapping
+
+| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns |
+|---|---|---|---|---|
+| 12540311 | 0–276 | 278–554 | 279–555 | 1790046383497843427 / 1790046392730699253 |
+| 12933256 | 0–275 | 277–552 | 278–553 | 1790046383481543315 / 1790046392716396353 |
+| 17736741 | 0–276 | 277–553 | 278–554 | 1790046383482492843 / 1790046392715443845 |
+| 23007103 | 0–276 | 278–554 | 279–555 | 1790046383488120363 / 1790046392721900075 |
+
+## Review products
+
+The newest completed media for each view/role currently present are listed below. A correction directory may cover only its changed views/roles; its media_index.json lists the exact coverage. Earlier prompts, propagation runs and media remain on disk. A new correction can make an older media directory historical; use current supplier admission before signoff or downstream processing.
+
+- Views 12540311: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_accessory_sparse_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_accessory_sparse_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_accessory_sparse_v1/boundary_end.mp4).
+- Views 12540311: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_recovery2/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_recovery2/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_recovery2/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_recovery2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_recovery2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_recovery2/boundary_end.mp4).
+- Views 12933256: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_accessory_sparse_v2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_accessory_sparse_v2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_accessory_sparse_v2/boundary_end.mp4).
+- Views 12933256: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_recovery2/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_recovery2/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_recovery2/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_recovery2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_recovery2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_recovery2/boundary_end.mp4).
+- Views 17736741: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_accessory_sparse_v2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_accessory_sparse_v2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_accessory_sparse_v2/boundary_end.mp4).
+- Views 17736741: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_recovery2/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_recovery2/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_recovery2/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_recovery2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_recovery2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/17736741/review_media_c6a_recovery2/boundary_end.mp4).
+- Views 23007103: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/23007103/review_media_c6a_accessory_sparse_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/23007103/review_media_c6a_accessory_sparse_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/23007103/review_media_c6a_accessory_sparse_v1/boundary_end.mp4).
+- Views 23007103: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/23007103/review_media_c6a_recovery2/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/23007103/review_media_c6a_recovery2/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/23007103/review_media_c6a_recovery2/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/23007103/review_media_c6a_recovery2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/23007103/review_media_c6a_recovery2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/23007103/review_media_c6a_recovery2/boundary_end.mp4).
+
+## Decisions and downstream boundary
+
+This card records the decisions above and grants no additional stage. Actual owner mask/window decisions must be recorded before final tracking. The three pushes also require an explicit decision about the fixed material-attachment approximation. After prompt corrections, perform fresh current-input admission; an old fitting identity alone does not detect every C1 F3 correction.
+
+C6a review findings and decisions are collected under `lab/c6a_20261027/`; source C1 records and protected A/B inputs remain unchanged.
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json
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+  "box_uv": [
+    354.0,
+    862.0,
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+  "source": "agent:c6a_20261027",
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+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2",
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+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
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+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
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+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-27T21:56:10Z"
+}
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+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
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+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
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+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
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+  "created_utc": "2026-10-27T21:56:10Z"
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01_seed_mask.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01_seed_mask.npz
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+}
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/inspect_command.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/inspect_command.json
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+[
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+  "scripts/phystwin_real_rgbd.py",
+  "inspect",
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+  "--frame-association",
+  "anchor_nearest",
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+  "--sample-t",
+  "0"
+]
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+      "depth_stream_id": "zed_23007103_depth_zed_sdk_neural_plus",
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+  ],
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+    "session_id": "session_20260921_230550_636767",
+    "session_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+    "window_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/phystwin_window.yaml",
+    "window_sha256": "a51fecde7d0b063bbc8edf83628976be42b3c67a5e67ece722d77dc6379c3768",
+    "window_resolved": {
+      "duration_s": 9.232856,
+      "end_anchor_timestamp_ns": 1790046392730699253,
+      "end_sync_index_exclusive": 554,
+      "frame_count": 277,
+      "start_anchor_timestamp_ns": 1790046383497843427,
+      "start_sync_index": 277
+    },
+    "manual_annotation_ns": [
+      1790046383497843427,
+      1790046392730699253
+    ],
+    "anchor_stream_id": "zed_12540311_left_rgb",
+    "sync_clock": "sync_time_ns (host_unix_time_ns)",
+    "device_clock": "device_time_ns",
+    "frame_association": "nearest per view to each anchor time, ties to the earlier frame, no tolerance",
+    "intrinsics_source": "metadata/calibration.json camera_intrinsics at the recorded stream size",
+    "calibration": {
+      "package_dir": "metadata/calibration_package",
+      "world_frame": "table",
+      "pose_source": "phase_05_final",
+      "final_transform_source": "combined_fixed_movable_ba",
+      "source_run_name": "20260921_200440",
+      "candidate_pose_set_name": "fixed020_movable1",
+      "world_T_camera_bundle": "world_T_camera_by_serial.npz",
+      "world_T_camera_bundle_sha256": "2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5"
+    }
+  },
+  "samples": [
+    {
+      "t": 0,
+      "serial": "12540311",
+      "converted_frame_index": 278,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
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+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 5000
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+      "depth_zero_fraction": 0.026608796296296297,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.596,
+        1.31,
+        5.0
+      ]
+    },
+    {
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+      "serial": "12933256",
+      "converted_frame_index": 277,
+      "rgb": {
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+          3
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+        6.607
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+      "serial": "17736741",
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+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
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+      "depth_raw": {
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+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.581,
+        1.1500000000000001,
+        3.6550000000000002
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "23007103",
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+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
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+          3
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+      "depth_raw": {
+        "dtype": "uint16",
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+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.481,
+        1.062,
+        4.788
+      ]
+    }
+  ]
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0277.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0277.npz
new file mode 100644
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0277.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0277.npz
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/object/run0001_t0000-0277.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/object/run0001_t0000-0277.npz
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/occluder/run0001_t0000-0277.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/occluder/run0001_t0000-0277.npz
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/occluder/run0002_t0000-0277.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/masks/12540311/occluder/run0002_t0000-0277.npz
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/phystwin_window.yaml b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/phystwin_window.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9c577cc9bedf54130a01ffe37fc9ee1248867d77
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/phystwin_window.yaml
@@ -0,0 +1,88 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767
+  session_id: session_20260921_230550_636767
+annotation_interface:
+  method: rerun
+  rerun_timeline: sync_time_ns
+  rerun_launch_command: uv run --no-sync python -m dataset_converter.visualize_rerun
+    --session-path /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767
+    --sensor-types zed
+  timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the
+    current integer-nanosecond timestamp at the desired start/end moments.
+  notes: ''
+timebase:
+  policy: native_anchor_overlap
+  sync_policy: AnchorStreamSyncPolicy
+  overlap: true
+  anchor_serial: '12540311'
+  anchor_stream_id: zed_12540311_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33444713
+  fps_estimate: 29.900092
+manual_annotation:
+  start_global_timestamp_ns: 1790046383497843427
+  end_global_timestamp_ns: 1790046392730699253
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 2
+  object_description: taped round belt
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A+hand_B'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Start = last participating hand (hand_B, person''s left) closes its
+    fingertip pinch on the far side of the belt: fingertips reach the belt at anchor
+    ~275-277 and are on it from 278 (12540311 single-frame scan). hand_A (bracelet)
+    had already wrapped the near side ~anchor 267-272. End = last frame before the
+    first release: hand_B''s pinch is intact through anchor 554 and its fingers open/lift
+    at 555-557; hand_A leaves at ~557-558 (12540311 single-frame scan, confirmed in
+    17736741). No regrasp, hand change or visible slip at stride 8 in 17736741 over
+    277-555.'
+resolved_window:
+  start_sync_index: 277
+  end_sync_index_exclusive: 554
+  start_anchor_timestamp_ns: 1790046383497843427
+  end_anchor_timestamp_ns: 1790046392730699253
+  frame_count: 277
+  duration_s: 9.232856
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 278
+    end_source_frame_index_exclusive: 555
+    start_source_timestamp_ns: 1790046383497843427
+    end_source_timestamp_ns: 1790046392730699253
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '12933256':
+    start_source_frame_index: 277
+    end_source_frame_index_exclusive: 553
+    start_source_timestamp_ns: 1790046383481543315
+    end_source_timestamp_ns: 1790046392716396353
+    start_delta_ns: -16300112
+    end_delta_ns: -14302900
+  '17736741':
+    start_source_frame_index: 277
+    end_source_frame_index_exclusive: 554
+    start_source_timestamp_ns: 1790046383482492843
+    end_source_timestamp_ns: 1790046392715443845
+    start_delta_ns: -15350584
+    end_delta_ns: -15255408
+  '23007103':
+    start_source_frame_index: 278
+    end_source_frame_index_exclusive: 555
+    start_source_timestamp_ns: 1790046383488120363
+    end_source_timestamp_ns: 1790046392721900075
+    start_delta_ns: -9723064
+    end_delta_ns: -8799178
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16300112
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:22:53+00:00'
+updated_at: '2026-10-27T19:22:53+00:00'
+
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/preview_c6a_accessory_sparse_v1.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/preview_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..857ea4bf2dcd849260fdf4ce8cef4027420b6da3
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/preview_c6a_accessory_sparse_v1.log
@@ -0,0 +1 @@
+12540311/occluder t=0: 174651 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/correction_preview_c6a_accessory_sparse_v1/12540311/occluder_t0000.png
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/preview_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/preview_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..57676ea4f5d2eb0e3047825ab4621802caadbec1
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/preview_c6a_accessory_sparse_v1_argv.json
@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/correction_preview_c6a_accessory_sparse_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/preview_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/preview_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad498cf36b7738c292e941a94d5a807245636ea4
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/preview_c6a_accessory_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.126229524612427,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_c6a_recovery2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_c6a_recovery2.log
new file mode 100644
index 0000000000000000000000000000000000000000..22ebd78aca7b15ae7466159e4b845f1baab58350
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_c6a_recovery2.log
@@ -0,0 +1,12 @@
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+
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0277.npz
+
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+
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/masks/12540311/occluder/run0001_t0000-0277.npz
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_c6a_recovery2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_c6a_recovery2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..4963f1ad57b2b2f796bbb1f14eba9d72b8829359
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_c6a_recovery2_argv.json
@@ -0,0 +1,33 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/masks",
+  "--view",
+  "12540311",
+  "--instance",
+  "object",
+  "--instance",
+  "hand_A",
+  "--instance",
+  "hand_B",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "277",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a resumed after power interruption; same pinned predictor and prompts; owner acceptance pending"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_c6a_recovery2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_c6a_recovery2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..780d24748aee425ae4c8c3685ec6035d37613ea7
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_c6a_recovery2_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 187.59567427635193,
+  "started_unix": 1793138171.655724,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..cac31d23ded4001f4c6a48ddb61ae4718b2287f3
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1.log
@@ -0,0 +1,3 @@
+
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+
propagate in video: 0it [00:00, ?it/s]
propagate in video: 0it [00:00, ?it/s]
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/masks/12540311/occluder/run0002_t0000-0277.npz
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b3336cb5583f3a81195932755333ce6e5fcbda8
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1_argv.json
@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/masks",
+  "--view",
+  "12540311",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "277",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a agent correction; no owner acceptance"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5dbc49d8e50abf8d3451208bcb6b18b2bf77e6
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propagate_12540311_occluder_c6a_accessory_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 25.31599998474121,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v1.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..5277acfe5372e2b7c0e893f911367d616462f069
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v1.json
@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12540311",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          161,
+          584
+        ],
+        [
+          564,
+          620
+        ],
+        [
+          183,
+          1030
+        ],
+        [
+          634,
+          924
+        ],
+        [
+          563,
+          925
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        0.0,
+        457.0,
+        742.0,
+        1079.0
+      ],
+      "supersede": true,
+      "note": "Owner-directed sparse replacement for the full-person occluder: five total points selected after re-inspecting this exact own-camera native t0 RGB. Include visible body, sleeves, bare arms, hands and bracelet; preserve real background gaps and exclude the object. Hand masks are unchanged. Box preserved. Preview and propagation review required; no owner acceptance."
+    }
+  ],
+  "notes": "Sparse successor to the retained dense draft. Native evidence re-inspected 2026-10-27. Same SAM2 method; no multipart union or mask filling. Root owns preview and application."
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/proposal_prompts_c6a_v1.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/proposal_prompts_c6a_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f871734854d3fb606b927bc159d5a7b7580b17fd
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/proposal_prompts_c6a_v1.json
@@ -0,0 +1,225 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12540311",
+      "instance": "object",
+      "t": 0,
+      "points": [
+        [
+          680,
+          689
+        ],
+        [
+          815,
+          746
+        ],
+        [
+          821,
+          828
+        ],
+        [
+          746,
+          895
+        ],
+        [
+          495,
+          810
+        ],
+        [
+          554,
+          728
+        ],
+        [
+          660,
+          790
+        ],
+        [
+          639,
+          955
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        485,
+        680,
+        837,
+        916
+      ],
+      "note": "Visible orange cord only; exclude loop interior and both grasping hands."
+    },
+    {
+      "serial": "12540311",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
+        [
+          425,
+          966
+        ],
+        [
+          506,
+          937
+        ],
+        [
+          614,
+          912
+        ],
+        [
+          692,
+          943
+        ],
+        [
+          559,
+          924
+        ],
+        [
+          302,
+          996
+        ],
+        [
+          728,
+          905
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        354,
+        862,
+        740,
+        1030
+      ],
+      "note": "Physical right bracelet hand: bare forearm and hand; exclude bracelet and black sleeve."
+    },
+    {
+      "serial": "12540311",
+      "instance": "hand_B",
+      "t": 0,
+      "points": [
+        [
+          402,
+          616
+        ],
+        [
+          513,
+          618
+        ],
+        [
+          591,
+          611
+        ],
+        [
+          623,
+          664
+        ],
+        [
+          306,
+          625
+        ],
+        [
+          677,
+          692
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        348,
+        561,
+        664,
+        704
+      ],
+      "note": "Physical left hand and bare forearm; exclude black cuff and orange cord."
+    },
+    {
+      "serial": "12540311",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          161,
+          584
+        ],
+        [
+          431,
+          615
+        ],
+        [
+          564,
+          620
+        ],
+        [
+          183,
+          1030
+        ],
+        [
+          437,
+          960
+        ],
+        [
+          634,
+          924
+        ],
+        [
+          559,
+          929
+        ],
+        [
+          654,
+          780
+        ],
+        [
+          1103,
+          1005
+        ],
+        [
+          832,
+          969
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        0,
+        457,
+        742,
+        1079
+      ],
+      "note": "Whole visible human at exact t0: both sleeves, both forearms, both hands and bracelet. Head/torso outside this view; exclude robot and table."
+    }
+  ],
+  "notes": "Native 1920x1080 t0 grid inspected for this exact camera. Camera-native sequence length 277; no cross-camera equal-length assumption. Physical right bracelet hand is A, physical left hand is B. Agent proposal only; no acceptance and no case writes."
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_accessory_sparse_v1.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..7441c2075987b7a39a842fa7640c17c141b03996
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_accessory_sparse_v1.log
@@ -0,0 +1 @@
+12540311/occluder t=0: 174651 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/correction_overlays_c6a_accessory_sparse_v1/12540311/occluder_t0000.png
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..413f966f35fcbbd01028b00b947a0765dae9016c
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_accessory_sparse_v1_argv.json
@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/proposal_corrections_c6a_accessory_sparse_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/correction_overlays_c6a_accessory_sparse_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..da08224d6d186d5b9e1e8da15bf015d9bde234d0
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_accessory_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.448013067245483,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_recovery2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_recovery2.log
new file mode 100644
index 0000000000000000000000000000000000000000..b79073e6829ccc8dc5c6cc4cf2c6339237766e50
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_recovery2.log
@@ -0,0 +1,4 @@
+12540311/object t=0: 8677 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/proposal_overlays_c6a_recovery2/12540311/object_t0000.png
+12540311/hand_A t=0: 36660 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/proposal_overlays_c6a_recovery2/12540311/hand_A_t0000.png
+12540311/hand_B t=0: 25031 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/proposal_overlays_c6a_recovery2/12540311/hand_B_t0000.png
+12540311/occluder t=0: 170223 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/proposal_overlays_c6a_recovery2/12540311/occluder_t0000.png
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_recovery2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_recovery2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..e80b2aa8b3b96c12f8974b18b842543a713b1df5
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_recovery2_argv.json
@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/proposal_prompts_c6a_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/proposal_overlays_c6a_recovery2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_recovery2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_recovery2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..061ca2d04aa22b63e8b83a507a4885c05db3883f
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/propose_c6a_recovery2_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 858.7636024951935,
+  "started_unix": 1793137312.891068,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review-media_c6a_recovery2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review-media_c6a_recovery2.log
new file mode 100644
index 0000000000000000000000000000000000000000..24ca72dcbeeba5f92e26f743799bc77ea5d96ddc
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review-media_c6a_recovery2.log
@@ -0,0 +1 @@
+Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_recovery2
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review-media_c6a_recovery2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review-media_c6a_recovery2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c7ca5326e2ff7b94c18e3c046994c3283aed1e
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review-media_c6a_recovery2_argv.json
@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_recovery2",
+  "--view",
+  "12540311",
+  "--t",
+  "0",
+  "--t",
+  "69",
+  "--t",
+  "138",
+  "--t",
+  "207",
+  "--t",
+  "276"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review-media_c6a_recovery2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review-media_c6a_recovery2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..890fe2244d2a928c794396d6968d832923e0380d
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review-media_c6a_recovery2_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 68.94225740432739,
+  "started_unix": 1793138359.8547022,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review_c6a_accessory_sparse_v1.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..98ab59ba0907706a94f0530405ceab5b3a9c6567
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review_c6a_accessory_sparse_v1.log
@@ -0,0 +1 @@
+Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_accessory_sparse_v1
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c3a4b25d529de2524e56c1ddaaf31b1a3756b28
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review_c6a_accessory_sparse_v1_argv.json
@@ -0,0 +1,29 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/review_media_c6a_accessory_sparse_v1",
+  "--view",
+  "12540311",
+  "--instance",
+  "occluder",
+  "--t",
+  "0",
+  "--t",
+  "69",
+  "--t",
+  "138",
+  "--t",
+  "207",
+  "--t",
+  "276"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a6ab85bfec407e313f5c454dff853e2cbf6c51
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/review_c6a_accessory_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 26.261247158050537,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/window_command.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/window_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aa1d33c5de43dff02ab36d982ab90bd58383e36
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12540311/window_command.json
@@ -0,0 +1,22 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_annotate_converted_session_window.py",
+  "--session-path",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--anchor-serial",
+  "12540311",
+  "--start-timestamp-ns",
+  "1790046383497843427",
+  "--end-timestamp-ns",
+  "1790046392730699253",
+  "--expected-visible-hands-or-arms",
+  "2",
+  "--object-description",
+  "taped round belt",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A+hand_B",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start = last participating hand (hand_B, person's left) closes its fingertip pinch on the far side of the belt: fingertips reach the belt at anchor ~275-277 and are on it from 278 (12540311 single-frame scan). hand_A (bracelet) had already wrapped the near side ~anchor 267-272. End = last frame before the first release: hand_B's pinch is intact through anchor 554 and its fingers open/lift at 555-557; hand_A leaves at ~557-558 (12540311 single-frame scan, confirmed in 17736741). No regrasp, hand change or visible slip at stride 8 in 17736741 over 277-555.",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12540311/phystwin_window.yaml"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee7777c44d8d5b7e7b72cfbb4f79334d79df44c3
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json
@@ -0,0 +1,114 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_230550_636767",
+    "window_sha256": "7fe86fc2d413f72b60cdec9a7c75264ff686412f684453c0f995ebb0f22d2cb8",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      276,
+      552
+    ],
+    "anchor_time_ns_first_last": [
+      1790046383481543315,
+      1790046392716396353
+    ]
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 276,
+    "converted_frame_index": 277,
+    "official_frame_index": 277,
+    "native_container_frame_index": 278,
+    "view_time_ns": 1790046383481543315
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
+  ],
+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
+    [
+      1378.0,
+      473.0
+    ],
+    [
+      1443.0,
+      454.0
+    ],
+    [
+      1254.0,
+      487.0
+    ],
+    [
+      1211.0,
+      539.0
+    ],
+    [
+      1314.0,
+      482.0
+    ],
+    [
+      1538.0,
+      430.0
+    ],
+    [
+      1161.0,
+      551.0
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+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0,
+    0,
+    0
+  ],
+  "box_uv": [
+    1176.0,
+    413.0,
+    1488.0,
+    570.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right bracelet hand: bare forearm and hand on both sides of bracelet; exclude bracelet and black sleeve.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "14083a3ce165a91c07989d60dbb2cc6ba1eaeba05a0a2a3a77c5e687237295fa",
+  "seed_mask_pixels": 20859,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-27T22:00:36Z"
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fb9e3528bccba36d21988aa3e931023d29ee9a58
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+version https://git-lfs.github.com/spec/v1
+oid sha256:14083a3ce165a91c07989d60dbb2cc6ba1eaeba05a0a2a3a77c5e687237295fa
+size 1888
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json
new file mode 100644
index 0000000000000000000000000000000000000000..3634332e4757402a2ef25af0e60673deb65df667
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+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json
@@ -0,0 +1,109 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_230550_636767",
+    "window_sha256": "7fe86fc2d413f72b60cdec9a7c75264ff686412f684453c0f995ebb0f22d2cb8",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      276,
+      552
+    ],
+    "anchor_time_ns_first_last": [
+      1790046383481543315,
+      1790046392716396353
+    ]
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 276,
+    "converted_frame_index": 277,
+    "official_frame_index": 277,
+    "native_container_frame_index": 278,
+    "view_time_ns": 1790046383481543315
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
+  ],
+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
+    [
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+      610.0
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+    [
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+    [
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+  "labels": [
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+  "box_uv": [
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+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "inspect",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--window",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/phystwin_window.yaml",
+  "--frame-association",
+  "anchor_nearest",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/inspection",
+  "--sample-t",
+  "0"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/inspection/frames.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/inspection/frames.npz
new file mode 100644
index 0000000000000000000000000000000000000000..13c556b43acd991d2c47c2ade6f21ff34d9aea1f
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/inspection/frames.npz
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+oid sha256:f7b06ed24214086a725dade61364e7d07ed19433d3873925d5054e7491feb2e6
+size 71796
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/inspection/inspection.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/inspection/inspection.json
new file mode 100644
index 0000000000000000000000000000000000000000..114a63fd978ed053674bc68e6d7e0173a23161a2
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/inspection/inspection.json
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+{
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+  "transition_count": 275,
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+  "anchor_interval_ms": {
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+    "max": 66.95255999999999
+  },
+  "anchor_view": 1,
+  "world_frame": "table",
+  "physics_frame": "table",
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+      "repeated_steps": 33,
+      "skipping_steps": 34,
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+      "rgb_depth_index_equal": true,
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+    {
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+      "rgb_stream_id": "zed_23007103_left_rgb",
+      "depth_stream_id": "zed_23007103_depth_zed_sdk_neural_plus",
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+        278,
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+      "repeated_steps": 0,
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+      "valid_frames": 276,
+      "rgb_depth_index_equal": true,
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+        "median": 7.610402499999999,
+        "max": 11.780102
+      },
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+        1080,
+        1920
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+        0.5168520851731121
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+      "depth_saturated_raw": 8191
+    }
+  ],
+  "lineage": {
+    "session_id": "session_20260921_230550_636767",
+    "session_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+    "window_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/phystwin_window.yaml",
+    "window_sha256": "7fe86fc2d413f72b60cdec9a7c75264ff686412f684453c0f995ebb0f22d2cb8",
+    "window_resolved": {
+      "duration_s": 9.234853,
+      "end_anchor_timestamp_ns": 1790046392716396353,
+      "end_sync_index_exclusive": 552,
+      "frame_count": 276,
+      "start_anchor_timestamp_ns": 1790046383481543315,
+      "start_sync_index": 276
+    },
+    "manual_annotation_ns": [
+      1790046383481543315,
+      1790046392716396353
+    ],
+    "anchor_stream_id": "zed_12933256_left_rgb",
+    "sync_clock": "sync_time_ns (host_unix_time_ns)",
+    "device_clock": "device_time_ns",
+    "frame_association": "nearest per view to each anchor time, ties to the earlier frame, no tolerance",
+    "intrinsics_source": "metadata/calibration.json camera_intrinsics at the recorded stream size",
+    "calibration": {
+      "package_dir": "metadata/calibration_package",
+      "world_frame": "table",
+      "pose_source": "phase_05_final",
+      "final_transform_source": "combined_fixed_movable_ba",
+      "source_run_name": "20260921_200440",
+      "candidate_pose_set_name": "fixed020_movable1",
+      "world_T_camera_bundle": "world_T_camera_by_serial.npz",
+      "world_T_camera_bundle_sha256": "2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5"
+    }
+  },
+  "samples": [
+    {
+      "t": 0,
+      "serial": "12540311",
+      "converted_frame_index": 278,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
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+          3
+        ]
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+          1080,
+          1920
+        ],
+        "min": 0,
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+      "depth_zero_fraction": 0.026608796296296297,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.596,
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+        5.0
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "12933256",
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+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
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+          3
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+      "depth_valid_m_min_median_max": [
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+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
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+      "depth_raw": {
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+      "depth_zero_fraction": 0.01781057098765432,
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+      "depth_valid_m_min_median_max": [
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+        1.1500000000000001,
+        3.6550000000000002
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+    {
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+      "rgb": {
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+        "shape": [
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+      "depth_raw": {
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+      "depth_valid_m_min_median_max": [
+        0.481,
+        1.062,
+        4.788
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+    }
+  ]
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0276.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0276.npz
new file mode 100644
index 0000000000000000000000000000000000000000..74cce753ff292b91ab6f61ba66a3d7fd7a051661
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+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0276.npz
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0276.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0276.npz
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/object/run0001_t0000-0276.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/object/run0001_t0000-0276.npz
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/occluder/run0001_t0000-0276.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/occluder/run0001_t0000-0276.npz
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/occluder/run0002_t0000-0276.npz b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/masks/12933256/occluder/run0002_t0000-0276.npz
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diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/phystwin_window.yaml b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/phystwin_window.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..78dca99c18df83978b3d6772e520657e5697b33b
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/phystwin_window.yaml
@@ -0,0 +1,88 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767
+  session_id: session_20260921_230550_636767
+annotation_interface:
+  method: rerun
+  rerun_timeline: sync_time_ns
+  rerun_launch_command: uv run --no-sync python -m dataset_converter.visualize_rerun
+    --session-path /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767
+    --sensor-types zed
+  timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the
+    current integer-nanosecond timestamp at the desired start/end moments.
+  notes: ''
+timebase:
+  policy: native_anchor_overlap
+  sync_policy: AnchorStreamSyncPolicy
+  overlap: true
+  anchor_serial: '12933256'
+  anchor_stream_id: zed_12933256_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33465742
+  fps_estimate: 29.881304
+manual_annotation:
+  start_global_timestamp_ns: 1790046383481543315
+  end_global_timestamp_ns: 1790046392716396353
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 2
+  object_description: taped round belt
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A+hand_B'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Start = last participating hand (hand_B, person''s left) closes its
+    fingertip pinch on the far side of the belt: fingertips reach the belt at anchor
+    ~275-277 and are on it from 278 (12540311 single-frame scan). hand_A (bracelet)
+    had already wrapped the near side ~anchor 267-272. End = last frame before the
+    first release: hand_B''s pinch is intact through anchor 554 and its fingers open/lift
+    at 555-557; hand_A leaves at ~557-558 (12540311 single-frame scan, confirmed in
+    17736741). No regrasp, hand change or visible slip at stride 8 in 17736741 over
+    277-555.'
+resolved_window:
+  start_sync_index: 276
+  end_sync_index_exclusive: 552
+  start_anchor_timestamp_ns: 1790046383481543315
+  end_anchor_timestamp_ns: 1790046392716396353
+  frame_count: 276
+  duration_s: 9.234853
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 278
+    end_source_frame_index_exclusive: 555
+    start_source_timestamp_ns: 1790046383497843427
+    end_source_timestamp_ns: 1790046392730699253
+    start_delta_ns: 16300112
+    end_delta_ns: 14302900
+  '12933256':
+    start_source_frame_index: 277
+    end_source_frame_index_exclusive: 553
+    start_source_timestamp_ns: 1790046383481543315
+    end_source_timestamp_ns: 1790046392716396353
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '17736741':
+    start_source_frame_index: 277
+    end_source_frame_index_exclusive: 554
+    start_source_timestamp_ns: 1790046383482492843
+    end_source_timestamp_ns: 1790046392715443845
+    start_delta_ns: 949528
+    end_delta_ns: -952508
+  '23007103':
+    start_source_frame_index: 278
+    end_source_frame_index_exclusive: 555
+    start_source_timestamp_ns: 1790046383488120363
+    end_source_timestamp_ns: 1790046392721900075
+    start_delta_ns: 6577048
+    end_delta_ns: 5503722
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16300112
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:23:21+00:00'
+updated_at: '2026-10-27T19:23:21+00:00'
+
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v1.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v1.log
new file mode 100644
index 0000000000000000000000000000000000000000..1937f135104dfe55b527028a7c969926a83677f0
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v1.log
@@ -0,0 +1 @@
+12933256/occluder t=0: 232538 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/correction_preview_c6a_accessory_sparse_v1/12933256/occluder_t0000.png
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v1_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v1_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8a5a681a410c0356e7ec4a268dbd51d68a9569c
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v1_argv.json
@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/correction_preview_c6a_accessory_sparse_v1",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v1_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v1_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..977276b2da79d7597d1304474859c63cfc58cb11
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v1_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.216480493545532,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..4fffad98a77b0bb869f862a8a81769a2cb4edc9d
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v2.log
@@ -0,0 +1 @@
+12933256/occluder t=0: 225267 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/correction_preview_c6a_accessory_sparse_v2/12933256/occluder_t0000.png
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac2cc2bb43d41bf15d7ccaa558a56c6750efec48
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v2_argv.json
@@ -0,0 +1,20 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/correction_preview_c6a_accessory_sparse_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--preview-only"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..b948cf9e6f899f3c255dd4d6add97a1486fb8657
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/preview_c6a_accessory_sparse_v2_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.5069708824157715,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_c6a_recovery2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_c6a_recovery2.log
new file mode 100644
index 0000000000000000000000000000000000000000..782b4a89fb4f42333ed8b87681cdcfcc9411407b
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_c6a_recovery2.log
@@ -0,0 +1,12 @@
+
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+
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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/masks/12933256/object/run0001_t0000-0276.npz
+
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+
propagate in video: 0it [00:00, ?it/s]
propagate in video: 0it [00:00, ?it/s]
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/masks/12933256/occluder/run0001_t0000-0276.npz
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_c6a_recovery2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_c6a_recovery2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce05dafa9a7aacc72c748879534e6f631feddb88
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_c6a_recovery2_argv.json
@@ -0,0 +1,33 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/masks",
+  "--view",
+  "12933256",
+  "--instance",
+  "object",
+  "--instance",
+  "hand_A",
+  "--instance",
+  "hand_B",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "276",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a resumed after power interruption; same pinned predictor and prompts; owner acceptance pending"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_c6a_recovery2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_c6a_recovery2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..dedcd598c1a54629f66dec72e71c43c071f5b06d
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_c6a_recovery2_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 113.03426742553711,
+  "started_unix": 1793138437.3094456,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..dffee504a608aebc98ddeebf0052bb795f1f1c4d
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v2.log
@@ -0,0 +1,3 @@
+
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+
propagate in video: 0it [00:00, ?it/s]
propagate in video: 0it [00:00, ?it/s]
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/masks/12933256/occluder/run0002_t0000-0276.npz
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9eba2db747f3b58d35b23cf6d478ae85ed5570f
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v2_argv.json
@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propagate",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/annotations",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/masks",
+  "--view",
+  "12933256",
+  "--instance",
+  "occluder",
+  "--t-start",
+  "0",
+  "--t-stop",
+  "276",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda",
+  "--note",
+  "C6a agent correction; no owner acceptance"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d217d9165068ed0d03f6fb728722622458b2c8b
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propagate_12933256_occluder_c6a_accessory_sparse_v2_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 25.379310131072998,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v1.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f75382f87c418d3719b71d13a4725734ceaf5a63
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v1.json
@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12933256",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          1617,
+          408
+        ],
+        [
+          1614,
+          582
+        ],
+        [
+          1243,
+          489
+        ],
+        [
+          1058,
+          663
+        ],
+        [
+          1312,
+          474
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        1007.0,
+        0.0,
+        1919.0,
+        728.0
+      ],
+      "supersede": true,
+      "note": "Owner-directed sparse replacement for the full-person occluder: five total points selected after re-inspecting this exact own-camera native t0 RGB. Include visible body, sleeves, bare arms, hands and bracelet; preserve real background gaps and exclude the object. Hand masks are unchanged. Box preserved. Preview and propagation review required; no owner acceptance."
+    }
+  ],
+  "notes": "Sparse successor to the retained dense draft. Native evidence re-inspected 2026-10-27. Same SAM2 method; no multipart union or mask filling. Root owns preview and application."
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v2.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b63aea1db9dae22fe9bd50308e700660f1e964e7
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v2.json
@@ -0,0 +1,48 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12933256",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          1617,
+          408
+        ],
+        [
+          1640,
+          180
+        ],
+        [
+          1243,
+          489
+        ],
+        [
+          1058,
+          663
+        ],
+        [
+          1312,
+          474
+        ]
+      ],
+      "labels": [
+        1,
+        0,
+        1,
+        1,
+        1
+      ],
+      "box": [
+        1007.0,
+        0.0,
+        1919.0,
+        728.0
+      ],
+      "supersede": true,
+      "note": "Sparse successor after v1 preview incorrectly included a large static tripod leg. Replace redundant lower-sleeve positive with a negative at native (1640,180) on that leg. Retain upper sleeve, both hands and bracelet positives. Five total points, unchanged box/t0, supersede=true. Same SAM2; preview before propagation."
+    }
+  ],
+  "notes": "Sparse successor to the retained dense draft. Native evidence re-inspected 2026-10-27. Same SAM2 method; no multipart union or mask filling. Root owns preview and application."
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/proposal_prompts_c6a_v1.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/proposal_prompts_c6a_v1.json
new file mode 100644
index 0000000000000000000000000000000000000000..593f1e575b49bc3fa22795689ee4b1ce6ce4dfad
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/proposal_prompts_c6a_v1.json
@@ -0,0 +1,240 @@
+{
+  "proposer": "c6a_20261027",
+  "prompts": [
+    {
+      "serial": "12933256",
+      "instance": "object",
+      "t": 0,
+      "points": [
+        [
+          1121,
+          549
+        ],
+        [
+          1001,
+          584
+        ],
+        [
+          991,
+          630
+        ],
+        [
+          1012,
+          652
+        ],
+        [
+          1164,
+          687
+        ],
+        [
+          1241,
+          675
+        ],
+        [
+          1139,
+          572
+        ],
+        [
+          1092,
+          628
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        980,
+        542,
+        1284,
+        698
+      ],
+      "note": "Visible orange cord only; foreground left hand hides part of loop; exclude interior and skin."
+    },
+    {
+      "serial": "12933256",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
+        [
+          1378,
+          473
+        ],
+        [
+          1443,
+          454
+        ],
+        [
+          1254,
+          487
+        ],
+        [
+          1211,
+          539
+        ],
+        [
+          1314,
+          482
+        ],
+        [
+          1538,
+          430
+        ],
+        [
+          1161,
+          551
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        1176,
+        413,
+        1488,
+        570
+      ],
+      "note": "Physical right bracelet hand: bare forearm and hand on both sides of bracelet; exclude bracelet and black sleeve."
+    },
+    {
+      "serial": "12933256",
+      "instance": "hand_B",
+      "t": 0,
+      "points": [
+        [
+          1207,
+          610
+        ],
+        [
+          1130,
+          623
+        ],
+        [
+          1067,
+          650
+        ],
+        [
+          1042,
+          691
+        ],
+        [
+          1352,
+          599
+        ],
+        [
+          1170,
+          688
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        0,
+        0
+      ],
+      "box": [
+        1010,
+        553,
+        1305,
+        724
+      ],
+      "note": "Physical left hand and bare forearm; exclude black cuff and orange cord."
+    },
+    {
+      "serial": "12933256",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
+        [
+          1905,
+          45
+        ],
+        [
+          1834,
+          250
+        ],
+        [
+          1617,
+          408
+        ],
+        [
+          1401,
+          469
+        ],
+        [
+          1243,
+          489
+        ],
+        [
+          1614,
+          582
+        ],
+        [
+          1363,
+          607
+        ],
+        [
+          1205,
+          609
+        ],
+        [
+          1058,
+          663
+        ],
+        [
+          1318,
+          478
+        ],
+        [
+          1117,
+          300
+        ],
+        [
+          1143,
+          570
+        ],
+        [
+          1474,
+          770
+        ]
+      ],
+      "labels": [
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        0,
+        0
+      ],
+      "box": [
+        1007,
+        0,
+        1919,
+        728
+      ],
+      "note": "Whole visible human from right image edge through both arms and hands, including bracelet. Head outside view; exclude white robot and table."
+    }
+  ],
+  "notes": "Native 1920x1080 t0 grid inspected for this exact camera. Camera-native sequence length 276; no cross-camera equal-length assumption. Physical right bracelet hand is A, physical left hand is B. Agent proposal only; no acceptance and no case writes."
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_accessory_sparse_v2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_accessory_sparse_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..22c5fdfcfc5e5fbd211bd10304dac7968c63cac6
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_accessory_sparse_v2.log
@@ -0,0 +1 @@
+12933256/occluder t=0: 225267 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/correction_overlays_c6a_accessory_sparse_v2/12933256/occluder_t0000.png
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_accessory_sparse_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..bebfefd2a14d7e58d616cf8e5548184622354211
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_accessory_sparse_v2_argv.json
@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/proposal_corrections_c6a_accessory_sparse_v2.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/correction_overlays_c6a_accessory_sparse_v2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_accessory_sparse_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f27f9ab3800e4912c7a69f4969689c667e6f8502
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_accessory_sparse_v2_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 7.538967132568359,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_recovery2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_recovery2.log
new file mode 100644
index 0000000000000000000000000000000000000000..efeb72ebe56b7a8c7acd0220ff04b26d5e9b6fd6
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_recovery2.log
@@ -0,0 +1,4 @@
+12933256/object t=0: 5788 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/proposal_overlays_c6a_recovery2/12933256/object_t0000.png
+12933256/hand_A t=0: 20859 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/proposal_overlays_c6a_recovery2/12933256/hand_A_t0000.png
+12933256/hand_B t=0: 25526 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/proposal_overlays_c6a_recovery2/12933256/hand_B_t0000.png
+12933256/occluder t=0: 226292 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/proposal_overlays_c6a_recovery2/12933256/occluder_t0000.png
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_recovery2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_recovery2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbe07144845783a89fa82dfa9d61c7e528bb160c
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_recovery2_argv.json
@@ -0,0 +1,19 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "propose",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/inspection/frames.npz",
+  "--proposal",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/proposal_prompts_c6a_v1.json",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/annotations",
+  "--overlays",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/proposal_overlays_c6a_recovery2",
+  "--checkpoint",
+  "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+  "--device",
+  "cuda"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_recovery2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_recovery2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b64036226ffc0623b99d5809dd2144c0912e960
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/propose_c6a_recovery2_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 77.4528694152832,
+  "started_unix": 1793138359.8555686,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review-media_c6a_recovery2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review-media_c6a_recovery2.log
new file mode 100644
index 0000000000000000000000000000000000000000..5053f09712a4f1ac9c5aa3d77bfb3f867491b72a
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review-media_c6a_recovery2.log
@@ -0,0 +1 @@
+Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_recovery2
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review-media_c6a_recovery2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review-media_c6a_recovery2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..a85ca32a4d7cc794503096a0ef2e29dd626cbb40
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review-media_c6a_recovery2_argv.json
@@ -0,0 +1,27 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_recovery2",
+  "--view",
+  "12933256",
+  "--t",
+  "0",
+  "--t",
+  "69",
+  "--t",
+  "138",
+  "--t",
+  "207",
+  "--t",
+  "275"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review-media_c6a_recovery2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review-media_c6a_recovery2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4d179e70d18bf0565a6eef7b484ba4941ae9a1c
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review-media_c6a_recovery2_result.json
@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 43.68924355506897,
+  "started_unix": 1793138550.890477,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review_c6a_accessory_sparse_v2.log b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review_c6a_accessory_sparse_v2.log
new file mode 100644
index 0000000000000000000000000000000000000000..3aa7c7f1c05f6700c92616f49b418e023c2b2eb9
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review_c6a_accessory_sparse_v2.log
@@ -0,0 +1 @@
+Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_accessory_sparse_v2
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review_c6a_accessory_sparse_v2_argv.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review_c6a_accessory_sparse_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..21f01f6689a1be2eab04e9d021965b0c35ff5e25
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review_c6a_accessory_sparse_v2_argv.json
@@ -0,0 +1,29 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "review-media",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/inspection/frames.npz",
+  "--annotations",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/annotations",
+  "--masks",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/masks",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/review_media_c6a_accessory_sparse_v2",
+  "--view",
+  "12933256",
+  "--instance",
+  "occluder",
+  "--t",
+  "0",
+  "--t",
+  "69",
+  "--t",
+  "138",
+  "--t",
+  "207",
+  "--t",
+  "275"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review_c6a_accessory_sparse_v2_result.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review_c6a_accessory_sparse_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..69c3e5260dfd1fe3c160a3013e70c39c8cc59fa8
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/review_c6a_accessory_sparse_v2_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 27.12336564064026,
+  "accepted": false
+}
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/window_command.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/window_command.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8ba2d556b203e41c7ddb66d000786db14b82c8a
--- /dev/null
+++ b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/12933256/window_command.json
@@ -0,0 +1,22 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_annotate_converted_session_window.py",
+  "--session-path",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230550_636767",
+  "--anchor-serial",
+  "12933256",
+  "--start-timestamp-ns",
+  "1790046383481543315",
+  "--end-timestamp-ns",
+  "1790046392716396353",
+  "--expected-visible-hands-or-arms",
+  "2",
+  "--object-description",
+  "taped round belt",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A+hand_B",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start = last participating hand (hand_B, person's left) closes its fingertip pinch on the far side of the belt: fingertips reach the belt at anchor ~275-277 and are on it from 278 (12540311 single-frame scan). hand_A (bracelet) had already wrapped the near side ~anchor 267-272. End = last frame before the first release: hand_B's pinch is intact through anchor 554 and its fingers open/lift at 555-557; hand_A leaves at ~557-558 (12540311 single-frame scan, confirmed in 17736741). No regrasp, hand change or visible slip at stride 8 in 17736741 over 277-555.",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230550_636767/window_anchor0278-0554/cameras/12933256/phystwin_window.yaml"
+]
diff --git a/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json b/sessions/session_20260921_230550_636767/preprocessing/mask-supplier-window-anchor0278-0554/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json
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+{
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+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
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+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
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+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-27T22:03:22Z"
+}
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+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
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+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-27T22:03:22Z"
+}