sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2: payload batch 1/4

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors.log

@@ -0,0 +1 @@
+colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/colors.json

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json

@@ -0,0 +1,16 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "colors",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:46:13.589952+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 2.6297481060028076,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json

@@ -0,0 +1,5 @@
+{
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "phase": "prior",
+  "completed_utc": "2026-10-28T21:46:31.771263+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log

@@ -0,0 +1 @@
+diagnose-depth: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/diagnose-depth.json

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json

@@ -0,0 +1,16 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "diagnose-depth",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:45:45.014845+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 1.5481266975402832,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log

@@ -0,0 +1,43 @@
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/fit.json

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json

@@ -0,0 +1,22 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "fit",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1",
+    "--outlier-filter",
+    "statistical:20:2.0",
+    "--max-rounds",
+    "400",
+    "--reprojection-weight",
+    "4"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:45:46.565338+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 22.022456884384155,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log

@@ -0,0 +1 @@
+hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/hybrid.json

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json

@@ -0,0 +1,16 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "hybrid",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:46:16.222256+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 2.2873377799987793,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log

@@ -0,0 +1 @@
+inputs: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/inputs.json

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json

@@ -0,0 +1,29 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "inputs",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546",
+    "--object",
+    "bike_chain",
+    "--unfitted-inputs",
+    "--fitting-bundle",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/rt3_lifts/fitting/fitting_observations.npz",
+    "--frames-bundle",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--depth-source",
+    "waft_stereo_dav2l5",
+    "--mask-erosion-px",
+    "2",
+    "--out",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:45:18.612424+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 26.388787031173706,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log

@@ -0,0 +1 @@
+/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/manifest.json

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json

@@ -0,0 +1,16 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "manifest",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:46:30.444460+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 1.3243305683135986,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log

@@ -0,0 +1 @@
+review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/review.json

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json

@@ -0,0 +1,16 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "review",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:46:18.518605+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 11.900348901748657,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log

@@ -0,0 +1 @@
+tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/tube.json

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json

@@ -0,0 +1,16 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "tube",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:46:08.594466+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 4.9925055503845215,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json

@@ -0,0 +1,5 @@
+{
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "phase": "reference",
+  "completed_utc": "2026-10-28T21:20:55.727990+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_argv.json

@@ -0,0 +1,33 @@
+{
+  "argv": [
+    "flock",
+    "-x",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock",
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/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_233045_819927/window_anchor0256-0546",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--cotracker-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/query_tracks",
+    "--support-rule",
+    "rt_d7_depth_consistency_v1",
+    "--observations-only",
+    "--participating-hand",
+    "hand_A",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/rt3_lifts"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:09:21.207735+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 397.20429944992065,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks.log

@@ -0,0 +1,8 @@
+12540311: tracked 5000 queries
+12933256: tracked 5000 queries
+17736741: tracked 5000 queries
+23007103: tracked 5000 queries
+12540311: members {'object': 1414, 'hand_A': 3531, 'hand_B': 0}
+12933256: members {'object': 2071, 'hand_A': 2843, 'hand_B': 0}
+17736741: members {'object': 1294, 'hand_A': 3678, 'hand_B': 0}
+23007103: members {'object': 1882, 'hand_A': 3005, 'hand_B': 0}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks_argv.json

@@ -0,0 +1,29 @@
+{
+  "argv": [
+    "flock",
+    "-x",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock",
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/phystwin_real_rgbd.py",
+    "track",
+    "--session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927",
+    "--frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/per_camera_inputs.json",
+    "--checkpoint",
+    "/mnt/data0/magna/.cache/torch/hub/checkpoints/scaled_online.pth",
+    "--seed",
+    "20260923",
+    "--device",
+    "cuda",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/query_tracks"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:01:25.853231+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "wall_seconds": 236.18179178237915,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_review.log

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sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_review_argv.json

@@ -0,0 +1,28 @@
+{
+  "argv": [
+    "flock",
+    "-x",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock",
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/agent_drafts/accepted_batch_recipe/review_reference_case.py",
+    "--case",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546",
+    "--session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927",
+    "--frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--prep",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1",
+    "--participating-hand",
+    "hand_A",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/review_v1"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:15:58.468988+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_review_result.json

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+{
+  "returncode": 0,
+  "wall_seconds": 297.17244386672974,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks.log

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+/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/lib/python3.11/site-packages/torch/functional.py:505: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at /pytorch/aten/src/ATen/native/TensorShape.cpp:4381.)
+  return _VF.meshgrid(tensors, **kwargs)  # type: ignore[attr-defined]
+12540311: saved 291 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12540311.npz
+12933256: saved 291 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12933256.npz
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sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_argv.json

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+{
+  "argv": [
+    "flock",
+    "-x",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock",
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/run_rt2_tapnextpp_tracks.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "--saved-query-tracks",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/query_tracks",
+    "--checkpoint",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt",
+    "--device",
+    "cuda",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks"
+  ],
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+  "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json",
+  "started_utc": "2026-10-28T21:05:22.716738+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_result.json

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+{
+  "returncode": 0,
+  "wall_seconds": 238.3934361934662,
+  "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/chain_prior_revocation_preparation_state_20261028.json

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+{
+  "owner_revocation": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_prior_revocation_20261028.json",
+  "stage_snapshot": {
+    "appearance_check_v1": {
+      "state": "not started"
+    },
+    "appearance_train_v1": {
+      "state": "not started"
+    },
+    "appearance_review_v1": {
+      "state": "not started"
+    },
+    "mech_v2": {
+      "state": "not started"
+    },
+    "mech_v3": {
+      "state": "not started"
+    },
+    "mech_center_v3": {
+      "state": "not started"
+    },
+    "mech_supervision": {
+      "state": "not started"
+    },
+    "mech_center_supervision": {
+      "state": "not started"
+    }
+  },
+  "completed_and_partial_outputs": "preserved without deletion or retry"
+}

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sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/per_camera_inputs.json

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+{
+  "annotation_ns": [
+    1790047879385946319,
+    1790047889122513771
+  ],
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+  "cameras": [
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+      "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12540311"
+    },
+    {
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+      "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12933256"
+    },
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+      "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/17736741"
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+      "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/23007103"
+    }
+  ]
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/AGENT_FINDINGS.md

@@ -0,0 +1,42 @@
+# 233045 — lower curvature candidate review
+
+The completed candidate passes the saved numerical, input-preservation and geometry checks. **21 panels and nine orbit samples were directly inspected. Owner acceptance remains pending; previous chain-prior acceptances remain revoked.** This review grants no mechanics, appearance-training or physical-fitting authorization.
+
+Goal: review this full initial prior and compare it with the preserved 18-control baseline. Done when: settings/input/numeric checks and the actual visual inspection are complete and saved. Non-goals: refitting, changing observations or recording approval.
+
+The requested settings are **18 controls, curvature weight 5e-10, reprojection weight 4**. All other scientific settings exactly match the baseline, including the solver, input cloud/masks, 4.75 mm radius and tube sampling. All six preparation stages and the single packaging/check invocation returned zero. All 27 true observation/filter/step files remain byte-equal; original baseline fit/manifest and this saved fit remain unchanged. The derived Gaussian shape_prior.glb was newly generated and equals this candidate's tube GLB.
+
+[Numerical checks](numeric_prior_review.json) · [Exact visual record](agent_visual_review.json) · [Metrics and camera links](PRIOR_REVIEW_c6a_v1.md) · [Common comparison values](baseline_comparison.json)
+
+| Common diagnostic | Baseline: curvature 5e-9 / reprojection 4 | This candidate |
+|---|---:|---:|
+| Mean point-to-centerline distance (mm) | 7.492554 | 7.476475 |
+| Mean of camera mean reprojection distances (mm) | 3.539597 | 3.538436 |
+| Length (mm) | 585.575 | 585.561 |
+| Distance outside soft length bounds (mm) | 0.575 | 0.561 |
+| Maximum curvature (/m) | 32.094 | 34.651 |
+| Median curvature (/m) | 11.833 | 11.821 |
+| Outer rounds | 1 | 1 |
+| Final gradient norm | 9.13397e-05 | 9.94576e-05 |
+
+Against the preserved18-control baseline, lowering only curvature weight5e-9→5e-10 changes the mean point-to-centerline distance7.492554→7.476475 mm and mean-view reprojection3.539597→3.538436 mm. Peak curvature rises32.094→34.651/m, while length changes585.575→585.561 mm. The unmasked silhouettes are visually very close at their saved resolution, with no clear recovery of a previously missing sharp corner. This is a small aggregate change rather than evidence of a broadly improved reconstruction.
+
+The total objectives are **not directly comparable** after a coefficient changes. Common residuals are diagnostic, not ground-truth error; the stored comparison also gives reprojection loss before its weight. All runs retain the absolute 1e-4 gradient tolerance, which can change effective precision when a term is reweighted. This candidate stopped on `gradient_tolerance`; one outer round permits up to 25 L-BFGS updates, whose actual count is not saved. The 400-round value is only a budget. The single-round convergence line plot appears blank because one point is plotted without a marker; the saved round record equals the final result. [Saved rounds](../prior_chain_lower_curvature_v2/spline/rounds.jsonl).
+
+The four input/mask sets show the same broad tabletop loop and single hand_A grip. The centerline and tube follow the exposed contour but smooth the discrete links and local bends. Camera 17736741 retains small visible edge offsets near the grip-side contour. The lower arc drawn across the hand in camera 12540311 is hidden completion and does not independently establish occluded shape or hand penetration.
+
+The scale, hybrid,3D and tube-profile panels show a coherent near-planar loop. Measured depth points lie above and laterally around the tube, and the side/3D axes are vertically expanded. Read-only chain-interior-minus-local-table depth medians remain approximately12.15/8.22/11.40/9.70 mm in camera order. No table/depth correction was performed.
+
+The residual histograms retain broad camera-dependent distributions, with their longer tails below about16 mm. These are distances to a centerline. The curvature profile shows several broad bends and smaller oscillations, with a peak near34.65/m; it does not resolve separate link joints. The single-round line plot has no visible marker and appears blank, while the numerical round is present.
+
+Color fill is concentrated on bottom-facing vertices and the hidden grip interval. The sampled orbit shows one continuous, consistently sized ring structure from all nine azimuths, with no visible gross crossing, detached segment, collapse or seam opening. The ring points visualize a continuous tube, not individual chain links.
+
+Saved geometry checks report **144 rings, 1,728 vertices, 3,456 triangles**, one consistently wound watertight component and **zero confirmed surface intersections**. Maximum recomputed radial error is **6.92e-09 m**. Minimum nonadjacent ring-center distance is **6.490 mm**; this remains a diagnostic, not a substitute for the surface-intersection rule. Tube z spans **-0.295 to 11.814 mm** relative to nominal table z=0. No table snapping, depth correction or contact validation was performed.
+
+Colors are observed for **1213 vertices** and median-filled for **515**. Saved GLB roundtrip checks report exact float32 positions and colors, and colored-GLB hashes match current files. Hybrid initialization contains **25,253 observed + 103,680 mesh-derived = 128,933 seeds**. These populations match the baseline counts because all runs use 18 controls and the same observation bank/sampling settings. They are appearance seeds, not mechanical particles or mass. Seven checked NPZ families are finite; per-view residual quantiles recompute to their recorded values.
+
+Orbit frames **0, 4, 9, 13, 18, 22, 26, 31, 35 of 36** were inspected individually. [Rotation](../prior_chain_lower_curvature_v2/review/tube/orbit.mp4) · [Inspected orbit frames](orbit_frames.json). The 21 panels comprise four input/mask sets, four masked centerlines, four unmasked silhouettes and nine diagnostic panels. The smooth tube does not model individual chain links or prove the shape behind the hand.
+
+This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172–248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach −348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment. [Preserved temporal review](../review_v1/REVIEW.md).
+
+Only this new packet and scoped review scratch were written by the reviewer. No prior has been accepted by this review.

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md

@@ -0,0 +1,39 @@
+# session_20260921_233045_819927 — prior approval pending
+
+Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual review is complete; owner acceptance remains pending, and earlier chain acceptances remain revoked. See [findings and baseline comparison](AGENT_FINDINGS.md). Saved values and media are linked here; the agent assessment is recorded separately. 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 / 256 / 257 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_0_12540311.png>) |
+| 12933256 | 0 / 255 / 256 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_1_12933256.png>) |
+| 17736741 | 0 / 256 / 257 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_2_17736741.png>) |
+| 23007103 | 0 / 255 / 256 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_chain_lower_curvature_v2/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_chain_lower_curvature_v2/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_chain_lower_curvature_v2/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_chain_lower_curvature_v2/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **585.561 mm**, maximum curvature **34.651/m**, final gradient norm **9.94576e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.561 mm.
+
+Saved geometry checks report `passed=True`: **1728 mesh vertices / 3456 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_chain_lower_curvature_v2/tube/tube_checks.json>).
+
+The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision.
+
+| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence |
+|---|---|---|---|
+| 12540311 | 8.426 / 12.550 | 100.00% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) |
+| 12933256 | 5.851 / 8.524 | 99.42% | [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 | 7.822 / 10.361 | 98.51% | [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 | 8.048 / 10.580 | 100.00% | [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 **25253 of 26278** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **25253 observed + 103680 mesh-derived = 128933 seeds**. Vertex colors are observed for 1213 mesh vertices and median-filled for 515. 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_chain_lower_curvature_v2/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_chain_lower_curvature_v2/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_chain_lower_curvature_v2/manifest.json>) · [Fit settings and metrics](<../prior_chain_lower_curvature_v2/steps/fit.json>) · [Reference observations](<../prior_chain_lower_curvature_v2/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+The agent inspected 21 panels and 9 orbit frames; see [the exact visual record](agent_visual_review.json) and [findings](AGENT_FINDINGS.md). Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here.

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json

@@ -0,0 +1,168 @@
+{
+  "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546",
+  "candidate": "lower_curvature",
+  "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2",
+  "reviewed_at_utc": "2026-10-28T22:50:33.212167+00:00",
+  "review_kind": "bounded numeric and visual review of completed owner-requested chain weight candidate",
+  "readiness": "ready_for_owner_comparison_with_disclosed_limits",
+  "blocking_findings_for_review_completion": [],
+  "owner_prior_acceptance": "pending; all earlier chain prior acceptances remain revoked",
+  "scope": {
+    "goal": "Review the completed candidate and compare common diagnostics against the preserved 18-control baseline.",
+    "done_when": "Six successful stages, single scoped packaging/check invocation,21 actual panels and 9 orbit samples inspected, numerical/settings/input checks and findings saved.",
+    "non_goals": [
+      "No scientific execution, fitting or source changes",
+      "No global or approval changes",
+      "No mechanics, appearance training or physical-fitting approval"
+    ]
+  },
+  "job": {
+    "case_id": "233045",
+    "session_id": "session_20260921_233045_819927",
+    "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546",
+    "prep": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1",
+    "candidate": "lower_curvature",
+    "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2",
+    "review": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_review_chain_lower_curvature_v2",
+    "baseline": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+    "settings": {
+      "control_count": 18,
+      "lambda_curvature_cost": 5e-10,
+      "reprojection_weight": 4.0
+    },
+    "baseline_manifest_sha256": "5c3f560eea985f9d376beed25f62328301e6e0206822ef4600447365e66556fa",
+    "baseline_fit_sha256": "1447d06033aef8a695483ebe1fa9cd15f4036f0e66c80028257fba96cf9c5d25"
+  },
+  "packaging_and_check_result": {
+    "returncode": 0,
+    "elapsed_s": 12.435457742001745,
+    "completed_utc": "2026-10-28T22:49:25.946816+00:00",
+    "argv": [
+      "flock",
+      "-x",
+      "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock",
+      "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+      "-B",
+      "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/agent_drafts/chain_weight_pair_review_233045_233144_20261028/package_and_check.py",
+      "--case",
+      "233045",
+      "--candidate",
+      "lower_curvature"
+    ]
+  },
+  "numeric_review_path": "numeric_prior_review.json",
+  "baseline_comparison_path": "baseline_comparison.json",
+  "unchanged_input_count": 27,
+  "geometry_checks": {
+    "euler_characteristic": 0,
+    "watertight": true,
+    "components": 1,
+    "winding_consistent": true,
+    "signed_volume_m3": 3.960661028893604e-05,
+    "minimum_outward_normal_dot_m": 0.004576825279004107,
+    "degenerate_triangles": 0,
+    "self_intersecting": false,
+    "maximum_radius_error_m": 6.9153748023104145e-09,
+    "maximum_diameter_error_m": 1.3777929009500811e-08,
+    "bishop_seam_error": 5.960464477539063e-08,
+    "minimum_nonadjacent_centerline_distance_m": 0.006490403928688424,
+    "triangle_area_m2": {
+      "min": 3.4466013380590655e-06,
+      "median": 4.824200162505392e-06,
+      "mean": 4.996909081105077e-06,
+      "max": 7.1740850912082675e-06,
+      "density_max_over_min": 2.0814954755539885
+    },
+    "bounds_m": [
+      [
+        -0.09602177143096924,
+        -0.21334518492221832,
+        -0.0002952171489596367
+      ],
+      [
+        0.07283338904380798,
+        0.006489256862550974,
+        0.011814262717962265
+      ]
+    ],
+    "radius_m": 0.00475,
+    "step_t": 0.125,
+    "step_angle_deg": 30,
+    "overlap_rule": "surface_intersection",
+    "open3d_reported_intersecting_pairs": 0,
+    "confirmed_intersecting_pairs": [],
+    "passed": true,
+    "orientation_flipped": true
+  },
+  "glb_roundtrip_checks": {
+    "float32_positions_exact": true,
+    "vertex_colors_exact": true,
+    "uv_count": 0,
+    "vertex_reordered_on_open3d_load": true
+  },
+  "observed_counts_unchanged": true,
+  "inspected_panels_relative_to_run": [
+    "review/inputs/view_0_12540311.png",
+    "review/inputs/view_1_12933256.png",
+    "review/inputs/view_2_17736741.png",
+    "review/inputs/view_3_23007103.png",
+    "review/spline/centerline_0_with_masks.png",
+    "review/spline/centerline_1_with_masks.png",
+    "review/spline/centerline_2_with_masks.png",
+    "review/spline/centerline_3_with_masks.png",
+    "review/tube/silhouette_0_unmasked.png",
+    "review/tube/silhouette_1_unmasked.png",
+    "review/tube/silhouette_2_unmasked.png",
+    "review/tube/silhouette_3_unmasked.png",
+    "review/tube/tube_scale_views.png",
+    "review/spline/residual_histograms.png",
+    "review/inputs/depth_offset.png",
+    "review/colors/visibility_and_fill.png",
+    "review/hybrid/combined.png",
+    "review/spline/fit_3d.png",
+    "review/spline/curvature_profile.png",
+    "review/spline/round_curves.png",
+    "review/tube/tube_profiles.png"
+  ],
+  "inspected_orbit_frames_relative_to_review": [
+    "orbit_frames/frame_000.png",
+    "orbit_frames/frame_004.png",
+    "orbit_frames/frame_009.png",
+    "orbit_frames/frame_013.png",
+    "orbit_frames/frame_018.png",
+    "orbit_frames/frame_022.png",
+    "orbit_frames/frame_026.png",
+    "orbit_frames/frame_031.png",
+    "orbit_frames/frame_035.png"
+  ],
+  "visual_coverage": {
+    "panel_count": 21,
+    "orbit_sample_count": 9,
+    "method": "Each actual PNG was opened and inspected individually through local image viewing, in labeled batches. Four baseline unmasked silhouettes were separately inspected for comparison."
+  },
+  "baseline_silhouettes_inspected": [
+    "review/tube/silhouette_0_unmasked.png",
+    "review/tube/silhouette_1_unmasked.png",
+    "review/tube/silhouette_2_unmasked.png",
+    "review/tube/silhouette_3_unmasked.png"
+  ],
+  "observations": [
+    "The four input/mask sets show the same broad tabletop loop and single hand_A grip. The centerline and tube follow the exposed contour but smooth the discrete links and local bends. Camera 17736741 retains small visible edge offsets near the grip-side contour. The lower arc drawn across the hand in camera 12540311 is hidden completion and does not independently establish occluded shape or hand penetration.",
+    "The scale, hybrid,3D and tube-profile panels show a coherent near-planar loop. Measured depth points lie above and laterally around the tube, and the side/3D axes are vertically expanded. Read-only chain-interior-minus-local-table depth medians remain approximately12.15/8.22/11.40/9.70 mm in camera order. No table/depth correction was performed.",
+    "The residual histograms retain broad camera-dependent distributions, with their longer tails below about16 mm. These are distances to a centerline. The curvature profile shows several broad bends and smaller oscillations, with a peak near34.65/m; it does not resolve separate link joints. The single-round line plot has no visible marker and appears blank, while the numerical round is present.",
+    "Color fill is concentrated on bottom-facing vertices and the hidden grip interval. The sampled orbit shows one continuous, consistently sized ring structure from all nine azimuths, with no visible gross crossing, detached segment, collapse or seam opening. The ring points visualize a continuous tube, not individual chain links."
+  ],
+  "comparison_observations": [
+    "Against the preserved18-control baseline, lowering only curvature weight5e-9\u21925e-10 changes the mean point-to-centerline distance7.492554\u21927.476475 mm and mean-view reprojection3.539597\u21923.538436 mm. Peak curvature rises32.094\u219234.651/m, while length changes585.575\u2192585.561 mm. The unmasked silhouettes are visually very close at their saved resolution, with no clear recovery of a previously missing sharp corner. This is a small aggregate change rather than evidence of a broadly improved reconstruction."
+  ],
+  "blocking_findings": [],
+  "limitations": [
+    "The 4.75 mm radius continuous circular tube does not model individual links, gaps, rollers, plates or articulation; hidden geometry is inferred.",
+    "Length 585.561216 mm is 0.561237 mm outside the soft interval. The 10/m threshold and 80/m smooth saturation are penalty parameters, not hard curvature bounds.",
+    "Tube z bounds are -0.295217 to 11.814263 mm relative to nominal table z=0. Depth/table offsets and contact uncertainty remain unchanged.",
+    "A lower common residual does not establish ground-truth shape accuracy. Changed objective totals are not ranked; fixed absolute gradient tolerance can affect effective precision when weights change.",
+    "This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172\u2013248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach \u2212348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment.",
+    "Inspection covers 21 saved panels and nine orbit frames, not every video frame. No mechanics, appearance training or physical fit is assessed or accepted."
+  ],
+  "approval_effect": "No approval is recorded; execution authorization is not acceptance."
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/baseline_comparison.json

@@ -0,0 +1,47 @@
+{
+  "baseline": {
+    "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+    "control_count": 18,
+    "curvature_weight": 5e-09,
+    "reprojection_weight": 4.0,
+    "mean_point_to_centerline_mm": 7.49255351546465,
+    "mean_of_camera_mean_reprojection_mm": 3.5395966789004634,
+    "length_mm": 585.574746131897,
+    "length_outside_soft_bounds_mm": 0.5747675895690918,
+    "maximum_curvature_per_m": 32.09360885620117,
+    "median_curvature_per_m": 11.833191394805908,
+    "common_3d_loss": 2.43807789956918e-05,
+    "unweighted_reprojection_loss": 8.112297109619249e-06,
+    "rounds": 1,
+    "stop": "gradient_tolerance",
+    "gradient_norm": 9.133969433605671e-05,
+    "wall_time_s": 20.815335273742676
+  },
+  "candidate": {
+    "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2",
+    "control_count": 18,
+    "curvature_weight": 5e-10,
+    "reprojection_weight": 4.0,
+    "mean_point_to_centerline_mm": 7.476474553448394,
+    "mean_of_camera_mean_reprojection_mm": 3.538436009384114,
+    "length_mm": 585.561215877533,
+    "length_outside_soft_bounds_mm": 0.5612373352050781,
+    "maximum_curvature_per_m": 34.65119171142578,
+    "median_curvature_per_m": 11.820651531219482,
+    "common_3d_loss": 2.4305420083692297e-05,
+    "unweighted_reprojection_loss": 8.108469046419486e-06,
+    "rounds": 1,
+    "stop": "gradient_tolerance",
+    "gradient_norm": 9.945761121343821e-05,
+    "wall_time_s": 20.518172025680542
+  },
+  "same_observed_inputs": true,
+  "only_scientific_setting_change": {
+    "control_count": 18,
+    "lambda_curvature_cost": 5e-10,
+    "reprojection_weight": 4.0
+  },
+  "all_other_baseline_settings_match": true,
+  "total_objectives_comparable": false,
+  "interpretation": "Common raw residuals and unweighted reprojection losses are compared. The coefficient changes the objective; absolute gradient stopping also changes effective precision. No optimum or ground-truth accuracy claim."
+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json

@@ -0,0 +1,824 @@
+{
+  "scope": "Saved 233045 lower_curvature prior review only; no fitting, sampling or scientific correction executed by this reviewer.",
+  "job": {
+    "case_id": "233045",
+    "session_id": "session_20260921_233045_819927",
+    "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546",
+    "prep": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1",
+    "candidate": "lower_curvature",
+    "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2",
+    "review": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_review_chain_lower_curvature_v2",
+    "baseline": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+    "settings": {
+      "control_count": 18,
+      "lambda_curvature_cost": 5e-10,
+      "reprojection_weight": 4.0
+    },
+    "baseline_manifest_sha256": "5c3f560eea985f9d376beed25f62328301e6e0206822ef4600447365e66556fa",
+    "baseline_fit_sha256": "1447d06033aef8a695483ebe1fa9cd15f4036f0e66c80028257fba96cf9c5d25"
+  },
+  "stage_results": {
+    "fit": {
+      "returncode": 0,
+      "elapsed_s_excluding_queue": 22.578409671987174,
+      "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+    },
+    "tube": {
+      "returncode": 0,
+      "elapsed_s_excluding_queue": 4.984429086005548,
+      "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+    },
+    "colors": {
+      "returncode": 0,
+      "elapsed_s_excluding_queue": 2.582289486002992,
+      "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+    },
+    "hybrid": {
+      "returncode": 0,
+      "elapsed_s_excluding_queue": 2.2552970179967815,
+      "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+    },
+    "review": {
+      "returncode": 0,
+      "elapsed_s_excluding_queue": 12.44718686399574,
+      "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+    },
+    "manifest": {
+      "returncode": 0,
+      "elapsed_s_excluding_queue": 1.3336657179897884,
+      "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+    }
+  },
+  "saved_fit_identity_unchanged_during_review": true,
+  "actual_settings_match_owner_request_and_other_baseline_settings": true,
+  "baseline_fit_outputs": {
+    "filter": {
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+}

sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/orbit_frames.json

@@ -0,0 +1,30 @@
+{
+  "source": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/review/tube/orbit.mp4",
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+    "orbit_frames/frame_031.png",
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+  "visual_inspection_completed": true,
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+}