diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..129551cbd0442d5668e68bfe8ac3a8d830da34f6
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/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_230830_350739/window_anchor0349-0805/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_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..531ba0ded337041284faaafb663213af2ae295cd
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 659.9141375530016
+}
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_v3.log b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_v3.log
new file mode 100644
index 0000000000000000000000000000000000000000..63c8450f06348b25f74ca56fef0cabd24947e218
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_v3.log
@@ -0,0 +1,38 @@
+{
+ "populations": {
+  "N": 555,
+  "S": 765,
+  "A": 768,
+  "added_surface": 210,
+  "interior": 3,
+  "controls": 30,
+  "controls_by_hand": {
+   "hand_A": 13,
+   "hand_B": 17
+  }
+ },
+ "denominators": {
+  "D_V": 517,
+  "D_M": 512
+ },
+ "graph": {
+  "object_springs": 11922,
+  "controller_springs": 584,
+  "object_rest_min_max_m": [
+   0.0005095727974548936,
+   0.019995220005512238
+  ],
+  "controller_rest_min_max_m": [
+   0.010885876603424549,
+   0.039992764592170715
+  ],
+  "isolated_object_nodes": 0,
+  "attached_object_nodes": 150,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 264,
+   "hand_B": 320
+  }
+ },
+ "passed": true
+}
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_argv.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3124557ab4a71141047bea98c1029c51a548152
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/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_230830_350739/window_anchor0349-0805/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_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_result.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbacfc9cea005d70713571af24c3a844eb2bb15e
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_center_v3_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 910.7003835899959
+}
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..e38e1739013b46740eeda128837955d402d172ba
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json
@@ -0,0 +1,38 @@
+{
+  "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_230830_350739/window_anchor0349-0805",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230830_350739",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "7cf65bbc2512b40fd24e29588fbd82f76b8bf4d16632a5da810efa89b244d07f",
+    "--accepted-prior-manifest-sha256",
+    "17159dcc589cdd39ca4d552051879912ff7c9e52809860945ab7cad5d49d53b3",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..384518dfc7dcc30669e99e32cf724714cf787b47
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 893.9570147990016
+}
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v2_argv.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v2_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddee686f13fb7c952b5a9d3b2750ba5d05c607e9
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v2_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_230830_350739/window_anchor0349-0805",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230830_350739",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "7cf65bbc2512b40fd24e29588fbd82f76b8bf4d16632a5da810efa89b244d07f",
+    "--accepted-prior-manifest-sha256",
+    "17159dcc589cdd39ca4d552051879912ff7c9e52809860945ab7cad5d49d53b3",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v2_result.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v2_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..be8b699e1875c5f111815917bd163fee86581969
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v2_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 371.5646687730041
+}
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v3_argv.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v3_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..92ee985db6d56a1acaf8717ea8615d585c0f393d
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v3_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_230830_350739/window_anchor0349-0805",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230830_350739",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "7cf65bbc2512b40fd24e29588fbd82f76b8bf4d16632a5da810efa89b244d07f",
+    "--accepted-prior-manifest-sha256",
+    "17159dcc589cdd39ca4d552051879912ff7c9e52809860945ab7cad5d49d53b3",
+    "--participating-hand",
+    "hand_A",
+    "--participating-hand",
+    "hand_B",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/mechanics_v2/mesh/binding.json",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2873334e33fb432c6be21549d727344746aba4b
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/mech_v3_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 502.99266492499737
+}
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md
new file mode 100644
index 0000000000000000000000000000000000000000..c6d245b173cec267c6d0e163556bb7c1a40d4479
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md
@@ -0,0 +1,53 @@
+# session_20260921_230830_350739 — prior approved by owner
+
+Saved C2 **orange_round_belt** prior evidence (radius 2.95 mm). **Agent numerical/visual review is complete; owner prior approval remains pending.** The projected geometry follows the exposed belt in all four views without a gross mismatch. Both hand-hidden arcs and the underside remain inferred. This packet is ready for owner review with the recorded depth and contact limitations; it 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 / 349 / 350 | [centerline](<../prior_orange_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 0 / 348 / 349 | [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 / 348 / 349 | [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 / 348 / 349 | [centerline](<../prior_orange_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_orange_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_orange_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_orange_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_orange_v1/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 round**, stop `gradient_tolerance`; final length **638.305 mm**, maximum curvature **18.449/m**, final gradient norm **9.50996e-05**. Soft length bounds are 635.000–660.000 mm; distance outside those bounds is 0.000 mm.
+
+Saved geometry checks report `passed=True`: **864 mesh vertices / 1728 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_orange_v1/tube/tube_checks.json>).
+
+The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision.
+
+| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence |
+|---|---|---|---|
+| 12540311 | 5.446 / 8.826 | 99.33% | [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 | 4.080 / 5.589 | 99.16% | [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 | 5.722 / 8.088 | 98.35% | [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 | 7.826 / 9.963 | 99.01% | [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 **13302 of 13938** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **13302 observed + 51840 mesh-derived = 65142 seeds**. Vertex colors are observed for 541 mesh vertices and median-filled for 323. 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>)
+
+Camera 12540311 has upper and lower foreground hidden arcs; 12933256 has a broad lower foreground-arm arc plus the upper-right grip; 17736741 has upper and lower-left gaps; 23007103 has upper-left and lower-right gaps. The combined cloud is sparse or absent near both ends of the elongated loop.
+
+**Depth and contact limitation:** The depth cloud is spread above the fitted tube and has lateral bands, particularly along the right side in the top view. Camera 23007103 has the largest median/p90 centerline residuals, 7.826/9.963 mm. Histograms for cameras 12540311, 17736741 and 23007103 have tails beyond 10 mm. Minimum tube z is -1.259323 mm relative to the nominal z=0 table plane. Belt-interior-minus-local-table medians are 9.781, 4.525, 6.684 and 5.700 mm in listed camera order. Camera-dependent offsets and depth spread leave vertical placement and table contact uncertain; no correction was applied.
+
+The spatial views and sampled orbit show a coherent, nearly planar oval with no gross crossing, detached component or sharp kink. One optimization round stopped at the configured gradient tolerance. Maximum curvature is 18.449/m and 44.4 percent of evaluated samples exceed the soft 10/m regularization threshold. That threshold is not a hard geometry acceptance test, and this review does not establish global optimality. The saved length is 638.305 mm within the 635-660 mm soft bounds, 3.305 mm above the lower bound; the within-1-mm bound flag is false. Full-loop shape and length remain model estimates where hand-hidden arcs lack observations.
+
+Both hand-hidden arcs and the underside remain inferred geometry. Projecting the prior across the hands does not reveal the hidden belt shape or verify physical contact. Sparse initial support does not independently determine those missing arcs. Median-filled colors on the underside and hidden arcs are initialization values, not observed texture.
+
+[Agent findings and exact review coverage](<agent_findings.json>) record all four initial native input panels, four centerline overlays, four masked and four unmasked tube overlays, the five spatial/residual/depth/color/hybrid plots, and orbit frames **0, 4, 8, 12, 16, 20, 24, 28, 32** of 36. The orbit displays sampled rings/vertices; saved numerical checks provide the topology evidence. The prior payload was read only and the temporal-reference review was not repeated.
+
+Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here.
+
+## Owner decision, 2026-10-28
+
+“Approve 230830’s prior”. Accept this reviewed orange-belt prior for mechanical input preparation and reference static appearance training. Trained appearance acceptance and physical fitting remain separate.
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f77e09090d6a4232b155ad2acaea5ac1cf43201
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json
@@ -0,0 +1,188 @@
+{
+  "case": "session_20260921_230830_350739/window_anchor0349-0805",
+  "reviewed_at_utc": "2026-10-28T18:43:13.278247+00:00",
+  "review_kind": "bounded agent review of the completed C2 orange-round-belt prior",
+  "readiness": "ready_for_owner_prior_review_with_recorded_two_hand_occlusion_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 two-hand 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, case-status or global documentation changes"
+    ],
+    "validation": "21 saved images and 9 evenly spaced decoded frames from the 36-frame orbit; saved metrics, fit settings, geometry checks and depth/color reports. The prior payload was read only."
+  },
+  "image_path_base": "../prior_orange_v1/review",
+  "inspected_images": [
+    "inputs/view_0_12540311.png",
+    "inputs/view_1_12933256.png",
+    "inputs/view_2_17736741.png",
+    "inputs/view_3_23007103.png",
+    "spline/centerline_0_with_masks.png",
+    "spline/centerline_1_with_masks.png",
+    "spline/centerline_2_with_masks.png",
+    "spline/centerline_3_with_masks.png",
+    "tube/silhouette_0_with_masks.png",
+    "tube/silhouette_1_with_masks.png",
+    "tube/silhouette_2_with_masks.png",
+    "tube/silhouette_3_with_masks.png",
+    "tube/silhouette_0_unmasked.png",
+    "tube/silhouette_1_unmasked.png",
+    "tube/silhouette_2_unmasked.png",
+    "tube/silhouette_3_unmasked.png",
+    "tube/tube_scale_views.png",
+    "inputs/depth_offset.png",
+    "spline/residual_histograms.png",
+    "colors/visibility_and_fill.png",
+    "hybrid/combined.png"
+  ],
+  "inspected_videos": {
+    "../prior_orange_v1/review/tube/orbit.mp4": {
+      "frame_count": 36,
+      "fps": 12,
+      "duration_s": 3,
+      "visually_inspected_frame_indices": [
+        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/tube/tube_checks.json",
+    "../prior_orange_v1/inputs/depth_offset_diagnostic.json",
+    "../prior_orange_v1/steps/colors.json",
+    "../prior_orange_v1/steps/hybrid.json"
+  ],
+  "saved_metrics": {
+    "radius_mm": 2.9499999999999997,
+    "reprojection_weight": 4.0,
+    "fit_rounds": 1,
+    "fit_stop": "gradient_tolerance",
+    "gradient_norm": 9.509955270914361e-05,
+    "length_mm": 638.3054852485657,
+    "soft_length_bounds_mm": [
+      634.9999904632568,
+      660.0000262260437
+    ],
+    "length_above_soft_lower_bound_mm": 3.305494785308838,
+    "arclength_bound_active_within_1mm": false,
+    "max_curvature_per_m": 18.4486083984375,
+    "curvature_regularization_threshold_per_m": 10.0,
+    "fraction_above_curvature_regularization_threshold": 0.444,
+    "tube_vertices": 864,
+    "tube_triangles": 1728,
+    "saved_geometry_checks": {
+      "euler_characteristic": 0,
+      "watertight": true,
+      "components": 1,
+      "winding_consistent": true,
+      "signed_volume_m3": 1.6641329906517122e-05,
+      "minimum_outward_normal_dot_m": 0.002841445320894509,
+      "degenerate_triangles": 0,
+      "self_intersecting": false,
+      "maximum_radius_error_m": 7.722545848458384e-09,
+      "maximum_diameter_error_m": 1.544509169691677e-08,
+      "bishop_seam_error": 5.960464477539063e-08,
+      "minimum_nonadjacent_centerline_distance_m": 0.015490710961257767,
+      "triangle_area_m2": {
+        "min": 5.778085096168949e-06,
+        "median": 6.633088631313959e-06,
+        "mean": 6.763041576020733e-06,
+        "max": 7.88296353374733e-06,
+        "density_max_over_min": 1.3642865071291492
+      },
+      "bounds_m": [
+        [
+          -0.008455511182546616,
+          -0.243503600358963,
+          -0.0012593234423547983
+        ],
+        [
+          0.17439953982830048,
+          -0.009799644351005554,
+          0.007760980166494846
+        ]
+      ],
+      "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": 9.781215132398158,
+      "12933256": 4.524765276228637,
+      "17736741": 6.68375038295782,
+      "23007103": 5.700336980653253
+    },
+    "depth_correction_applied": false,
+    "per_view": {
+      "12540311": {
+        "median_centerline_distance_mm": 5.446095950901508,
+        "p90_centerline_distance_mm": 8.826148323714735,
+        "visible_centerline_inside_mask_fraction": 0.9932659932659933
+      },
+      "12933256": {
+        "median_centerline_distance_mm": 4.080248065292835,
+        "p90_centerline_distance_mm": 5.588557850569489,
+        "visible_centerline_inside_mask_fraction": 0.9916317991631799
+      },
+      "17736741": {
+        "median_centerline_distance_mm": 5.721522495150566,
+        "p90_centerline_distance_mm": 8.088157325983047,
+        "visible_centerline_inside_mask_fraction": 0.9834983498349835
+      },
+      "23007103": {
+        "median_centerline_distance_mm": 7.826133631169796,
+        "p90_centerline_distance_mm": 9.962993673980236,
+        "visible_centerline_inside_mask_fraction": 0.9901315789473685
+      }
+    },
+    "appearance_seeds": {
+      "observed": 13302,
+      "mesh": 51840,
+      "total": 65142,
+      "mesh_to_observed": 3.8971583220568338
+    },
+    "vertex_colors": {
+      "observed_vertices": 541,
+      "filled_vertices": 323
+    },
+    "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 panels show a narrow elongated orange loop with two separate hand-occluded regions. Object masks follow the visible arcs. No conspicuous invalid-depth overlay patch was seen inside the visible belt at displayed resolution.",
+    "All four centerline and tube overlays follow the exposed belt closely. Small local contour offsets remain, including the upper/right arc in camera 23007103; no gross wrong-loop displacement, crossing, detached component or sharp kink was observed.",
+    "Camera 12540311 has upper and lower foreground hidden arcs; 12933256 has a broad lower foreground-arm arc plus the upper-right grip; 17736741 has upper and lower-left gaps; 23007103 has upper-left and lower-right gaps. The combined cloud is sparse or absent near both ends of the elongated loop.",
+    "The spatial plots and nine orbit samples show a coherent, nearly planar oval with small height variation. Saved numerical checks report one watertight component, consistent winding, zero degenerate triangles and no self-intersection. The ring-rendered orbit alone does not establish mesh topology.",
+    "The depth cloud is spread above the fitted tube and has lateral bands, particularly along the right side in the top view. Camera 23007103 has the largest median/p90 centerline residuals, 7.826/9.963 mm. Histograms for cameras 12540311, 17736741 and 23007103 have tails beyond 10 mm.",
+    "The color plot distinguishes 541 observed-color vertices from 323 median-filled vertices on the underside and hidden arcs. Hybrid initialization contains 13,302 observed plus 51,840 mesh-derived seeds, total 65,142."
+  ],
+  "limitations": [
+    "Both hand-hidden arcs and the underside remain inferred geometry. Projecting the prior across the hands does not reveal the hidden belt shape or verify physical contact. Sparse initial support does not independently determine those missing arcs.",
+    "Minimum tube z is -1.259323 mm relative to the nominal z=0 table plane. Belt-interior-minus-local-table medians are 9.781, 4.525, 6.684 and 5.700 mm in listed camera order. Camera-dependent offsets and depth spread leave vertical placement and table contact uncertain; no correction was applied.",
+    "The 4.080-7.826 mm median 3D residuals are observed-point-to-centerline distances, including tube radius and measurement/model differences, not ground-truth reconstruction errors. Centerline-in-mask fractions of 98.35-99.33 percent are not silhouette IoU.",
+    "The saved length is 638.305 mm within the 635-660 mm soft bounds, 3.305 mm above the lower bound; the within-1-mm bound flag is false. Full-loop shape and length remain model estimates where hand-hidden arcs lack observations.",
+    "One optimization round stopped at the configured gradient tolerance. Maximum curvature is 18.449/m and 44.4 percent of evaluated samples exceed the soft 10/m regularization threshold. That threshold is not a hard geometry acceptance test, and this review does not establish global optimality.",
+    "Median-filled colors are initialization values rather than observed texture. Mesh vertices and appearance seeds are distinct from mechanical particles; this prior run supplies no post-prior particle count, unit-mass total, trained appearance or physical-fit result.",
+    "This review inspected the specified 21 initial/diagnostic images and nine of 36 ring-rendered orbit frames. It does not claim continuous playback or repeat the completed temporal-reference review."
+  ],
+  "packaging_exit_code": 0
+}
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7866fc499bb3ba3995f1d313e3726da7d175600a
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json
@@ -0,0 +1,490 @@
+{
+  "session_id": "session_20260921_230830_350739",
+  "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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": 349,
+      "native_container_frame": 350,
+      "official_frame": 349,
+      "depth_frame": 349,
+      "capture_timestamp_ns": 1790046546639301541,
+      "device_timestamp_ns": 1790046546594547310,
+      "initial_grid_offset_ms": 0.0,
+      "native_count": 457,
+      "initial_observed_depth_points": 4363,
+      "median_3d_residual_m": 0.005446095950901508,
+      "p90_3d_residual_m": 0.008826148323714735,
+      "visible_centerline_inside_mask_fraction": 0.9932659932659933,
+      "track_diagnostics": {
+        "T": 457,
+        "queries": 5000,
+        "keyframes": [
+          0,
+          57,
+          114,
+          171,
+          228,
+          285,
+          335,
+          342,
+          350,
+          399,
+          456
+        ],
+        "source_seed_counts": {
+          "object": 625,
+          "hand_A": 2648,
+          "hand_B": 1727
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.965,
+          0.98385295404814,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          258,
+          355
+        ],
+        "paired_common_min_max": [
+          4384,
+          4720
+        ]
+      },
+      "links": {
+        "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/prior_orange_v1/review/spline/centerline_0_with_masks.png",
+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/review_v1/12540311/paired_depth.png"
+      }
+    },
+    {
+      "serial": "12933256",
+      "view_index": 1,
+      "selected_window_local_index": 0,
+      "converted_frame": 348,
+      "native_container_frame": 349,
+      "official_frame": 348,
+      "depth_frame": 348,
+      "capture_timestamp_ns": 1790046546638078793,
+      "device_timestamp_ns": 1790046546592033646,
+      "initial_grid_offset_ms": 1.222748,
+      "native_count": 457,
+      "initial_observed_depth_points": 2379,
+      "median_3d_residual_m": 0.004080248065292835,
+      "p90_3d_residual_m": 0.005588557850569489,
+      "visible_centerline_inside_mask_fraction": 0.9916317991631799,
+      "track_diagnostics": {
+        "T": 457,
+        "queries": 5000,
+        "keyframes": [
+          0,
+          57,
+          88,
+          92,
+          114,
+          171,
+          228,
+          285,
+          342,
+          399,
+          456
+        ],
+        "source_seed_counts": {
+          "object": 411,
+          "hand_A": 1728,
+          "hand_B": 2860
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.9064,
+          0.9455614879649891,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          113,
+          223
+        ],
+        "paired_common_min_max": [
+          3994,
+          4747
+        ]
+      },
+      "links": {
+        "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/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_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/review_v1/12933256/paired_depth.png"
+      }
+    },
+    {
+      "serial": "17736741",
+      "view_index": 2,
+      "selected_window_local_index": 0,
+      "converted_frame": 348,
+      "native_container_frame": 349,
+      "official_frame": 348,
+      "depth_frame": 348,
+      "capture_timestamp_ns": 1790046546632119449,
+      "device_timestamp_ns": 1790046546586411470,
+      "initial_grid_offset_ms": 7.182092,
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diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/select_waft.log b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/select_waft.log
new file mode 100644
index 0000000000000000000000000000000000000000..2344d4dc87cd4b2ae77315179b6aa84610f4bfa6
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/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_230830_350739/window_anchor0349-0805/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_230830_350739/preprocessing/c6a-input-preparation-v1/native/select_waft_argv.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/select_waft_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..8902ef5a5ede53eeae5f5072817e4697c46616b8
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/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_230830_350739",
+  "--frames",
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+  "--depth-source",
+  "waft_stereo_dav2l5",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/frames_waft"
+]
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/select_waft_result.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/select_waft_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..eae7e5520c2112120400ab895275f8cf308de949
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/select_waft_result.json
@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "wall_seconds": 2.2757866382598877
+}
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/selected_mask_admission.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/selected_mask_admission.json
new file mode 100644
index 0000000000000000000000000000000000000000..744fe269f0831270d56695fdfe7eee59b71f1f5d
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/selected_mask_admission.json
@@ -0,0 +1,147 @@
+{
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+}
diff --git a/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/tapnextpp_tracks/track_report.json b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/tapnextpp_tracks/track_report.json
new file mode 100644
index 0000000000000000000000000000000000000000..3353339c4e6a52f3d62091f05b84a13f9cdc9666
--- /dev/null
+++ b/sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/tapnextpp_tracks/track_report.json
@@ -0,0 +1,111 @@
+{
+  "checkpoint": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt",
+  "checkpoint_sha256": "6cd0e793fdcface3063d63f8ed3819bcf74c2c0468fe1fef85acee4de2f3609f",
+  "fork_commit": "454041f7eb110a3eeabf9743cd97f119ed91fb8e",
+  "load_report": {
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+    "checkpoint_top_level_keys": [
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+      "global_step",
+      "pytorch-lightning_version",
+      "state_dict",
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