diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d970dec6673c23bd6fbd5a6a20a18d17318b5e0
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json
@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..37af1d042b8bb0db23c0ef6c18e45e677eb32790
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 298.50695414398797
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_v3.log b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_v3.log
new file mode 100644
index 0000000000000000000000000000000000000000..5ffaf04ac925863496922d346b63a6f1e5f45094
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_v3.log
@@ -0,0 +1,36 @@
+{
+ "populations": {
+  "N": 814,
+  "S": 980,
+  "A": 982,
+  "added_surface": 166,
+  "interior": 2,
+  "controls": 30,
+  "controls_by_hand": {
+   "hand_A": 30
+  }
+ },
+ "denominators": {
+  "D_V": 778,
+  "D_M": 766
+ },
+ "graph": {
+  "object_springs": 15502,
+  "controller_springs": 772,
+  "object_rest_min_max_m": [
+   0.00016404861526098102,
+   0.01994173973798752
+  ],
+  "controller_rest_min_max_m": [
+   0.009673058986663818,
+   0.03996738791465759
+  ],
+  "isolated_object_nodes": 0,
+  "attached_object_nodes": 89,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 772
+  }
+ },
+ "passed": true
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_argv.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..d11f2f4cba2eae9d7ade9d571a014341ec93a405
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_argv.json
@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/mechanics_v3"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_result.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..35bbb13bf971f50cf3ca2ae060a75e5ec94c8676
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 490.21174847200746
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..101d852dcbc08efeb9c4fab9ecf90c63c43e7ef6
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json
@@ -0,0 +1,36 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230446_039759",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "4cbeea94486cd2768bf0688215dfb418521c94742674ff5e6820588feb9a07ca",
+    "--accepted-prior-manifest-sha256",
+    "a3afc1e29fe0e65c8b67efbaf359bbcfca1bbdecff329c28c31358a222ac8033",
+    "--participating-hand",
+    "hand_A",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/mechanics_v3/mesh/binding.json",
+    "--premesh-fitting",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/rt3_lifts/fitting",
+    "--mesh-rules",
+    "m2_10mm_centerline_voxels_v3",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8eda6c29d935748a6fa14a7838462395d0351b0
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 307.27068163298827
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v2_argv.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..935b4f05b8a6af591590251c5a241b5905276664
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v2_argv.json
@@ -0,0 +1,32 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230446_039759",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "4cbeea94486cd2768bf0688215dfb418521c94742674ff5e6820588feb9a07ca",
+    "--accepted-prior-manifest-sha256",
+    "a3afc1e29fe0e65c8b67efbaf359bbcfca1bbdecff329c28c31358a222ac8033",
+    "--participating-hand",
+    "hand_A",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1",
+    "--mesh-rules",
+    "m2_10mm_centerline_core_v2",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/mechanics_v2"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v2_result.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f44cd855cf5f3863ac7330fd1ede69ad3ac2cff
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v2_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 276.1712742450036
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v3_argv.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v3_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..12fce88d02586be9e8861bb12bfc8cf9fb1a99e8
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v3_argv.json
@@ -0,0 +1,34 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230446_039759",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--tap-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "4cbeea94486cd2768bf0688215dfb418521c94742674ff5e6820588feb9a07ca",
+    "--accepted-prior-manifest-sha256",
+    "a3afc1e29fe0e65c8b67efbaf359bbcfca1bbdecff329c28c31358a222ac8033",
+    "--participating-hand",
+    "hand_A",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1",
+    "--mesh-rules",
+    "m2_10mm_centerline_voxels_v3",
+    "--retained-samples-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/mechanics_v2/mesh/binding.json",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/mechanics_v3"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": ""
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd2d058c584f98b20f7aa951ec51333e2c63b0f1
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 327.7878590320033
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md
new file mode 100644
index 0000000000000000000000000000000000000000..5beb88181e2a60230673a6f0c732094f253276a4
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md
@@ -0,0 +1,49 @@
+# session_20260921_230446_039759 — prior accepted
+
+Saved C2 **orange_round_belt** prior evidence (radius 2.95 mm). **Agent visual and numerical review is complete; owner prior approval was recorded on 2026-10-28.** The prior is ready for owner review with the depth and table-contact limitations below. This packet records no acceptance.
+
+Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](<prior_metrics.json>).
+
+| Camera | Local / converted / native | Centerline / geometry / native input |
+|---|---|---|
+| 12540311 | 0 / 282 / 283 | [centerline](<../prior_orange_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 1 / 283 / 284 | [centerline](<../prior_orange_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_1_12933256.png>) |
+| 17736741 | 0 / 282 / 283 | [centerline](<../prior_orange_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_2_17736741.png>) |
+| 23007103 | 0 / 282 / 283 | [centerline](<../prior_orange_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_orange_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_orange_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_orange_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_orange_v1/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **639.363 mm**, maximum curvature **19.669/m**, final gradient norm **7.61746e-05**. Soft length bounds are 635.000–660.000 mm; distance outside those bounds is 0.000 mm.
+
+Saved geometry checks report `passed=True`: **864 mesh vertices / 1728 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_orange_v1/tube/tube_checks.json>).
+
+The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision.
+
+| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence |
+|---|---|---|---|
+| 12540311 | 7.075 / 9.821 | 99.69% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) |
+| 12933256 | 6.141 / 7.695 | 96.96% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) |
+| 17736741 | 7.502 / 9.848 | 97.65% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) |
+| 23007103 | 6.885 / 8.578 | 97.46% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) |
+
+The saved statistical filter used 20 neighbours / 2 sigma and kept **17127 of 17898** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **17127 observed + 51840 mesh-derived = 68967 seeds**. Vertex colors are observed for 589 mesh vertices and median-filled for 275. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages.
+
+[Appearance seed populations](<../prior_orange_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_orange_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>)
+
+[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>)
+
+[Manifest](<../prior_orange_v1/manifest.json>) · [Fit settings and metrics](<../prior_orange_v1/steps/fit.json>) · [Reference observations](<../prior_orange_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+**Agent findings.** All 21 saved input, centerline, tube, spatial/depth, residual, color and hybrid images were inspected, together with orbit frames 0, 4, 8, 12, 16, 20, 24, 28 and 32 of 36. The orbit was fully decoded, but this is sampled visual inspection rather than continuous manual playback. [Exact findings and coverage](<agent_findings.json>).
+
+The centerline and tube follow the visible orange loop in all four views, with small local edge offsets. The spatial views and sampled orbit retain a coherent nearly planar oval with no conspicuous kink, crossing or detached component. The orbit displays tube rings/vertices; the watertightness and intersection statements above come from the saved geometry checks. The hand-hidden arc and underside remain inferred geometry, and 275 of 864 vertex colors are median-filled rather than observed.
+
+**Vertical placement and table contact remain uncertain.** The fitted tube minimum z is **−1.059 mm** relative to the nominal z=0 table plane. The read-only depth diagnostic gives belt-interior-minus-local-table medians of **9.518 / 5.302 / 8.215 / 5.198 mm** in camera-table order. The spatial/hybrid plots show depth observations spread above and around the tube. No depth correction was applied. The 6.141–7.502 mm median point-to-centerline residuals include tube radius and measurement/model differences; they are not ground-truth reconstruction errors. The centerline-in-mask fractions are not silhouette IoU.
+
+One fit round stopped at the configured gradient tolerance. Maximum curvature is **19.669/m**, and **43.2%** of samples exceed the **10/m** soft curvature-regularization threshold. This is not a hard geometry failure, and the review does not establish global optimality. No blocking issue for presenting this prior to the owner was identified.
+
+Owner prior approval remains pending. No prior payload, source settings, case status, acceptance, mechanics approval or trained-appearance approval was changed; the completed temporal-reference review was not rerun.
+
+[Owner prior acceptance](../../owner_prior_acceptance_c6a_v1.json). Agent findings retain their original pre-approval timestamp.
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d691b6c8af6f7461d6d96ab6975812183f7de9a
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json
@@ -0,0 +1,184 @@
+{
+  "case": "session_20260921_230446_039759/window_anchor0282-0676",
+  "reviewed_at_utc": "2026-10-28T18:06:22.961376+00:00",
+  "review_kind": "bounded agent review of the completed C2 orange-round-belt prior",
+  "readiness": "ready_for_owner_prior_review_with_recorded_depth_and_table_plane_limitations",
+  "blocking_findings": [],
+  "owner_prior_approval": "pending; this record does not grant owner acceptance or authorize downstream stages",
+  "scope": {
+    "goal": "Assess saved initial prior geometry and appearance initialization against the native observations.",
+    "done_when": "Four input panels, four centerline overlays, eight tube overlays, five spatial/diagnostic plots and at least eight orbit samples have been inspected and limitations recorded.",
+    "non_goals": [
+      "No prior, tracking, lifting or settings changes or reruns",
+      "No mechanics, static appearance training or physical fitting",
+      "No acceptance or case-status changes"
+    ],
+    "validation": "21 saved images and 9 evenly spaced frames from the fully decoded 36-frame orbit; saved metrics, fit settings, geometry checks and depth/color reports. The prior payload was read only."
+  },
+  "image_path_base": "../prior_orange_v1/review",
+  "inspected_images": [
+    "inputs/view_0_12540311.png",
+    "inputs/view_1_12933256.png",
+    "inputs/view_2_17736741.png",
+    "inputs/view_3_23007103.png",
+    "spline/centerline_0_with_masks.png",
+    "spline/centerline_1_with_masks.png",
+    "spline/centerline_2_with_masks.png",
+    "spline/centerline_3_with_masks.png",
+    "tube/silhouette_0_with_masks.png",
+    "tube/silhouette_1_with_masks.png",
+    "tube/silhouette_2_with_masks.png",
+    "tube/silhouette_3_with_masks.png",
+    "tube/silhouette_0_unmasked.png",
+    "tube/silhouette_1_unmasked.png",
+    "tube/silhouette_2_unmasked.png",
+    "tube/silhouette_3_unmasked.png",
+    "tube/tube_scale_views.png",
+    "inputs/depth_offset.png",
+    "spline/residual_histograms.png",
+    "colors/visibility_and_fill.png",
+    "hybrid/combined.png"
+  ],
+  "inspected_videos": {
+    "../prior_orange_v1/review/tube/orbit.mp4": {
+      "frame_count": 36,
+      "fps": 12.0,
+      "duration_s": 3.0,
+      "visually_inspected_frame_indices": [
+        0,
+        4,
+        8,
+        12,
+        16,
+        20,
+        24,
+        28,
+        32
+      ],
+      "visual_method": "Individual decoded frames at 0.333-second intervals; no continuous-playback claim. The video plots tube rings/vertices rather than a shaded continuous surface."
+    }
+  },
+  "inspected_data": [
+    "prior_metrics.json",
+    "../prior_orange_v1/steps/fit.json",
+    "../prior_orange_v1/spline/spline_fit.json",
+    "../prior_orange_v1/spline/witness.json",
+    "../prior_orange_v1/tube/tube_checks.json",
+    "../prior_orange_v1/inputs/depth_offset_diagnostic.json",
+    "../prior_orange_v1/colors/color_summary.json"
+  ],
+  "saved_metrics": {
+    "radius_mm": 2.9499999999999997,
+    "reprojection_weight": 4.0,
+    "fit_rounds": 1,
+    "fit_stop": "gradient_tolerance",
+    "gradient_norm": 7.617459777975455e-05,
+    "length_mm": 639.3629908561707,
+    "soft_length_bounds_mm": [
+      634.9999904632568,
+      660.0000262260437
+    ],
+    "max_curvature_per_m": 19.669017791748047,
+    "curvature_regularization_threshold_per_m": 10.0,
+    "fraction_above_curvature_regularization_threshold": 0.432,
+    "tube_vertices": 864,
+    "tube_triangles": 1728,
+    "saved_geometry_checks": {
+      "euler_characteristic": 0,
+      "watertight": true,
+      "components": 1,
+      "winding_consistent": true,
+      "signed_volume_m3": 1.666924460021357e-05,
+      "minimum_outward_normal_dot_m": 0.00284267325959387,
+      "degenerate_triangles": 0,
+      "self_intersecting": false,
+      "maximum_radius_error_m": 7.908275051309033e-09,
+      "maximum_diameter_error_m": 1.5815228838339523e-08,
+      "bishop_seam_error": 2.9802322387695312e-08,
+      "minimum_nonadjacent_centerline_distance_m": 0.014456220926711652,
+      "triangle_area_m2": {
+        "min": 5.218978546154632e-06,
+        "median": 6.939565157595549e-06,
+        "mean": 6.7742383017095834e-06,
+        "max": 7.773124736291417e-06,
+        "density_max_over_min": 1.4893958017931865
+      },
+      "bounds_m": [
+        [
+          -0.024135489016771317,
+          -0.1670723259449005,
+          -0.0010585805866867304
+        ],
+        [
+          0.21090836822986603,
+          0.01369332056492567,
+          0.007161801215261221
+        ]
+      ],
+      "radius_m": 0.00295,
+      "step_t": 0.125,
+      "step_angle_deg": 30,
+      "passed": true,
+      "orientation_flipped": true
+    },
+    "depth_belt_minus_local_table_mm_by_serial": {
+      "12540311": 9.518087219855143,
+      "12933256": 5.301991223383484,
+      "17736741": 8.215482888253856,
+      "23007103": 5.197506243576178
+    },
+    "depth_correction_applied": false,
+    "per_view": {
+      "12540311": {
+        "median_centerline_distance_mm": 7.075374945998192,
+        "p90_centerline_distance_mm": 9.821053780615332,
+        "visible_centerline_inside_mask_fraction": 0.9968652037617555
+      },
+      "12933256": {
+        "median_centerline_distance_mm": 6.141203921288252,
+        "p90_centerline_distance_mm": 7.695123832672834,
+        "visible_centerline_inside_mask_fraction": 0.9695945945945946
+      },
+      "17736741": {
+        "median_centerline_distance_mm": 7.501551881432533,
+        "p90_centerline_distance_mm": 9.84849501401186,
+        "visible_centerline_inside_mask_fraction": 0.9765395894428153
+      },
+      "23007103": {
+        "median_centerline_distance_mm": 6.884794682264328,
+        "p90_centerline_distance_mm": 8.577695302665234,
+        "visible_centerline_inside_mask_fraction": 0.9745762711864406
+      }
+    },
+    "appearance_seeds": {
+      "observed": 17127,
+      "mesh": 51840,
+      "total": 68967,
+      "mesh_to_observed": 3.0267997898055703
+    },
+    "vertex_colors": {
+      "observed_vertices": 589,
+      "filled_vertices": 275
+    },
+    "mechanical_population": {
+      "particle_count": null,
+      "total_unit_mass": null,
+      "status": "not produced by the prior run; no post-prior mechanics are evaluated here"
+    }
+  },
+  "observations": [
+    "The four native input panels show one orange oval loop with a local hand-occluded arc. Object masks follow the visible loop; view 1 retains a small visible belt segment between the fingers. No conspicuous invalid-depth overlay patch was seen inside the visible belt at displayed resolution.",
+    "All four projected centerlines and tube silhouettes follow the visible orange contour closely. Small local edge offsets remain, including portions of the lower/front arc in view 1. No gross wrong-loop displacement, crossing, detached component or kink was observed.",
+    "The spatial views and nine orbit samples show a coherent nearly planar oval with small height variation. Saved geometry checks report one watertight component, consistent winding, zero degenerate triangles and no self-intersection; these are saved numerical checks rather than conclusions from the ring-rendered orbit.",
+    "The depth-cloud and hybrid plots show observed points spread laterally and above the fitted tube, with missing observed support at the hand-hidden arc. Centerline residual histograms have tails beyond 10 mm in views 0, 2 and 3; view 2 has the largest median residual, 7.502 mm.",
+    "The color plot distinguishes 589 observed-color vertices from 275 median-filled vertices. The filled population lies mainly on the underside and the occluded arc. Hybrid initialization has 17,127 observed plus 51,840 mesh-derived seeds, total 68,967."
+  ],
+  "limitations": [
+    "The hand-hidden arc and underside remain inferred geometry. Projecting the prior across the hand does not reveal the hidden shape, and filled vertex colors are not observed texture.",
+    "Minimum tube z is -1.058581 mm relative to the nominal z=0 table plane. The read-only depth diagnostic gives belt-interior-minus-local-table medians of 9.518, 5.302, 8.215 and 5.198 mm by listed camera order. Camera-dependent offsets and depth spread leave vertical placement and table contact uncertain; no depth correction was applied.",
+    "The 6.141\u20137.502 mm per-view median 3D residuals are observed-point-to-centerline distances, including tube surface radius and measurement/model differences; they are not ground-truth reconstruction errors. The 96.96\u201399.69 percent centerline-in-mask fractions are not silhouette IoU.",
+    "One optimization round stopped at the configured gradient tolerance. Maximum curvature is 19.669/m and 43.2 percent of samples exceed the configured 10/m curvature regularization threshold. That threshold is part of the soft loss, not a hard geometry acceptance test, and this review does not establish global optimality.",
+    "The orbit is a sampled vertex/ring plot, not a continuous mesh-surface render. This review samples nine of its 36 frames and does not repeat the already completed temporal-reference review.",
+    "Mesh vertices and appearance seeds are separate populations from mechanical particles. This prior run supplies no post-prior mechanical particle count, unit-mass total, trained appearance or physical-fit result."
+  ]
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff4209ef2b3f90f8e1b167a037183290c5db308c
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json
@@ -0,0 +1,489 @@
+{
+  "session_id": "session_20260921_230446_039759",
+  "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1",
+  "owner_prior_approval": "accepted",
+  "visual_quality_assessment": "not performed by this packager",
+  "object": {
+    "name": "orange_round_belt",
+    "representation": "tube",
+    "fitter_source": "spline_estimation.round_belt_backend (accepted A/B priors)",
+    "dimension_source": "owner 2.95 mm cord radius (RP S-E, 2026-09-26)",
+    "radius_m": 0.00295,
+    "ribbon_width_m": null,
+    "step_t": 0.125,
+    "step_angle_deg": 30,
+    "u_resolution": null,
+    "overlap_rule": "ring_separation",
+    "twist_penalty": null
+  },
+  "initial_grid_sample": 0,
+  "views": [
+    {
+      "serial": "12540311",
+      "view_index": 0,
+      "selected_window_local_index": 0,
+      "converted_frame": 282,
+      "native_container_frame": 283,
+      "official_frame": 282,
+      "depth_frame": 282,
+      "capture_timestamp_ns": 1790046321139557321,
+      "device_timestamp_ns": 1790046321089226384,
+      "initial_grid_offset_ms": 4.194051,
+      "native_count": 395,
+      "initial_observed_depth_points": 5728,
+      "median_3d_residual_m": 0.007075374945998192,
+      "p90_3d_residual_m": 0.00982105378061533,
+      "visible_centerline_inside_mask_fraction": 0.9968652037617555,
+      "track_diagnostics": {
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+        "keyframes": [
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+        ],
+        "source_seed_counts": {
+          "object": 1625,
+          "hand_A": 3375,
+          "hand_B": 0
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.7642,
+          0.8990734177215189,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          309,
+          998
+        ],
+        "paired_common_min_max": [
+          3432,
+          4343
+        ]
+      },
+      "links": {
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+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1/review/tube/silhouette_0_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1/review/tube/silhouette_0_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1/review/inputs/view_0_12540311.png",
+        "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/review_v1/12540311/rgb_waft_depth_full_window.mp4",
+        "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/review_v1/12540311/12540311_visibility_certainty.png",
+        "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/review_v1/12540311/support_and_rejections.png",
+        "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/review_v1/12540311/paired_depth.png"
+      }
+    },
+    {
+      "serial": "12933256",
+      "view_index": 1,
+      "selected_window_local_index": 1,
+      "converted_frame": 283,
+      "native_container_frame": 284,
+      "official_frame": 283,
+      "depth_frame": 283,
+      "capture_timestamp_ns": 1790046321160043352,
+      "device_timestamp_ns": 1790046321118597703,
+      "initial_grid_offset_ms": -16.29198,
+      "native_count": 396,
+      "initial_observed_depth_points": 3308,
+      "median_3d_residual_m": 0.006141203921288252,
+      "p90_3d_residual_m": 0.007695123832672834,
+      "visible_centerline_inside_mask_fraction": 0.9695945945945946,
+      "track_diagnostics": {
+        "T": 396,
+        "queries": 5000,
+        "keyframes": [
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+        ],
+        "source_seed_counts": {
+          "object": 1126,
+          "hand_A": 3873,
+          "hand_B": 0
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.8616,
+          0.9804343434343434,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          312,
+          675
+        ],
+        "paired_common_min_max": [
+          3784,
+          4469
+        ]
+      },
+      "links": {
+        "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1/review/spline/centerline_1_with_masks.png",
+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1/review/tube/silhouette_1_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1/review/tube/silhouette_1_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/prior_orange_v1/review/inputs/view_1_12933256.png",
+        "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/review_v1/12933256/rgb_waft_depth_full_window.mp4",
+        "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/review_v1/12933256/12933256_visibility_certainty.png",
+        "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/review_v1/12933256/support_and_rejections.png",
+        "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/review_v1/12933256/paired_depth.png"
+      }
+    },
+    {
+      "serial": "17736741",
+      "view_index": 2,
+      "selected_window_local_index": 0,
+      "converted_frame": 282,
+      "native_container_frame": 283,
+      "official_frame": 282,
+      "depth_frame": 282,
+      "capture_timestamp_ns": 1790046321143751372,
+      "device_timestamp_ns": 1790046321091841664,
+      "initial_grid_offset_ms": 0.0,
+      "native_count": 395,
+      "initial_observed_depth_points": 5671,
+      "median_3d_residual_m": 0.007501551881432533,
+      "p90_3d_residual_m": 0.00984849501401186,
+      "visible_centerline_inside_mask_fraction": 0.9765395894428153,
+      "track_diagnostics": {
+        "T": 395,
+        "queries": 5000,
+        "keyframes": [
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+          197,
+          246,
+          295,
+          344,
+          394
+        ],
+        "source_seed_counts": {
+          "object": 1756,
+          "hand_A": 3244,
+          "hand_B": 0
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.9832,
+          0.9890703797468354,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          737,
+          1086
+        ],
+        "paired_common_min_max": [
+          3271,
+          4328
+        ]
+      },
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+  }
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/select_waft.log b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/select_waft.log
new file mode 100644
index 0000000000000000000000000000000000000000..aa7d76e2385f91cccf1aa0eca070b48912b8e948
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/select_waft.log
@@ -0,0 +1 @@
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json; native RGB/mask identities and interaction bounds are unchanged
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/select_waft_argv.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/select_waft_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8962e0589e51b98ce7224b6b3f7fad12f7ced38
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/select_waft_argv.json
@@ -0,0 +1,13 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "select-depth",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230446_039759",
+  "--frames",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/native_inputs/per_camera_inputs.json",
+  "--depth-source",
+  "waft_stereo_dav2l5",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/accepted_input_preparation_c6a_v1/frames_waft"
+]
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/select_waft_result.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/select_waft_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..676a572b9b5e490badb9f9415e45c608df01280a
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/select_waft_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "wall_seconds": 2.083899736404419
+}
diff --git a/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/selected_mask_admission.json b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/selected_mask_admission.json
new file mode 100644
index 0000000000000000000000000000000000000000..8519a2179210b2f0a6d612aa65d7a0dba97459cd
--- /dev/null
+++ b/sessions/session_20260921_230446_039759/preprocessing/c6a-input-preparation-v1/native/selected_mask_admission.json
@@ -0,0 +1,147 @@
+{
+  "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/owner_mask_acceptance_c6a_selected_20261028.json",
+  "source_selection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/mask_review_selection.json",
+  "cameras": [
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+      "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/native_inputs/cameras/12540311/inspection/frames.npz",
+      "T": 395,
+      "roles": {
+        "object": {
+          "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230446_039759/window_anchor0282-0676/native_inputs/cameras/12540311/review_signoff.json",
+          "covered_frames": 395,
+          "visible_frames": 395,
+          "reviewed_pixel_counts_equal": true,
+          "source_segments": 1
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