sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775: payload batch 1/1

sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/C6A_REVIEW.md

@@ -0,0 +1,35 @@
+# session_20260921_232822_920324: C6a proposal review
+
+**Status: agent proposal; owner mask/window/contact decisions pending.**
+
+Object: grey timing belt. Motion: right-handed grasp lifting completely off table, tilt hand and object together and compress against table, then put down.
+Current packet anchor converted frames: **308–775 inclusive**.
+Current packet endpoint sync timestamps: `1790047737827131803` / `1790047753435865227` ns.
+Participating identities: `hand_A`; A is the right, bracelet-wearing hand, B the left.
+Hands mean visible bare forearm through fingertips, excluding bracelet/sleeve. Occluder means the whole visible person, including clothing, accessories and nonparticipating hands.
+
+C1 evidence: `/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_proposal_c1/proposal.json`.
+
+## Exact own-camera mapping
+
+| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns |
+|---|---|---|---|---|
+| 12540311 | 0–467 | 308–775 | 309–776 | 1790047737827131803 / 1790047753435865227 |
+| 12933256 | 0–467 | 309–776 | 310–777 | 1790047737830607449 / 1790047753442365284 |
+| 17736741 | 0–467 | 310–777 | 311–778 | 1790047737833752108 / 1790047753445270327 |
+| 23007103 | 0–467 | 310–777 | 311–778 | 1790047737835693357 / 1790047753449618111 |
+
+## Review products
+
+The newest completed media for each view/role currently present are listed below. A correction directory may cover only its changed views/roles; its media_index.json lists the exact coverage. Earlier prompts, propagation runs and media remain on disk. A new correction can make an older media directory historical; use current supplier admission before signoff or downstream processing.
+
+- Views 12540311: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12540311_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12540311_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12540311_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12540311_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12540311_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12540311_v1/boundary_end.mp4).
+- Views 12933256: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12933256_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12933256_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12933256_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12933256_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12933256_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_12933256_v1/boundary_end.mp4).
+- Views 17736741: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_17736741_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_17736741_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_17736741_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_17736741_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_17736741_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_17736741_v1/boundary_end.mp4).
+- Views 23007103: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_23007103_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_23007103_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_23007103_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_23007103_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_23007103_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/review_media_c6a_grasp_23007103_v1/boundary_end.mp4).
+
+## Decisions and downstream boundary
+
+This card records the decisions above and grants no additional stage. Actual owner mask/window decisions must be recorded before final tracking. The three pushes also require an explicit decision about the fixed material-attachment approximation. After prompt corrections, perform fresh current-input admission; an old fitting identity alone does not detect every C1 F3 correction.
+
+C6a review findings and decisions are collected under `lab/c6a_20261027/`; source C1 records and protected A/B inputs remain unchanged.

sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_A/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232822_920324",
+    "window_sha256": "1c6429116524ebec7a765adc03ab54d3aad8a6276e9bac4bc499d31287a7b832",
+    "serials": [
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+    "anchor_time_ns_first_last": [
+      1790047737827131803,
+      1790047753435865227
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 307,
+    "converted_frame_index": 308,
+    "official_frame_index": 308,
+    "native_container_frame_index": 309,
+    "view_time_ns": 1790047737827131803
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
+    1080,
+    1920
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+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
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+      780.0
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+      756.0
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+    731.0,
+    832.0
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+  "source": "agent:c6a_20261027",
+  "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "643e4485ad9552e9f188a2092e7f64065770fdefd43963e925f380b91abc6a31",
+  "seed_mask_pixels": 21514,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-28T00:03:50Z"
+}

sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:643e4485ad9552e9f188a2092e7f64065770fdefd43963e925f380b91abc6a31
+size 1674

sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_B/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232822_920324",
+    "window_sha256": "1c6429116524ebec7a765adc03ab54d3aad8a6276e9bac4bc499d31287a7b832",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
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+      775
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+    "anchor_time_ns_first_last": [
+      1790047737827131803,
+      1790047753435865227
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_B",
+  "frame": {
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+    "converted_frame_index": 308,
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+  "image_size_hw": [
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+    1920
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+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [],
+  "labels": [],
+  "box_uv": null,
+  "source": "agent:c6a_20261027",
+  "note": "Draft: no participating left hand in this single-right-hand interaction. Any visible nonparticipating left hand belongs only to occluder.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "6e854e62e28996ac78abed3a72856e00f27ba852d1e4f076149062d512afe1d0",
+  "seed_mask_pixels": 0,
+  "seed_model": {
+    "predictor": "agent_proposed_absence"
+  },
+  "created_utc": "2026-10-28T00:03:50Z",
+  "reviewed_absence_half_open": [
+    0,
+    468
+  ]
+}

sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/object/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232822_920324",
+    "window_sha256": "1c6429116524ebec7a765adc03ab54d3aad8a6276e9bac4bc499d31287a7b832",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
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+      1790047753435865227
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+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "object",
+  "frame": {
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+    "sync_index": 307,
+    "converted_frame_index": 308,
+    "official_frame_index": 308,
+    "native_container_frame_index": 309,
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+  "image_size_hw": [
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+  "source": "agent:c6a_20261027",
+  "note": "Draft from exact native t=0 RGB: grey timing-belt band only; exclude interior table, shadow and hand. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "5d78c89d718f66f4e86cb2001c6d5aefcc7e10dbaa2d80f16c162d40e606c786",
+  "seed_mask_pixels": 14852,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-28T00:03:50Z"
+}

sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz

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sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/occluder/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_232822_920324",
+    "window_sha256": "1c6429116524ebec7a765adc03ab54d3aad8a6276e9bac4bc499d31287a7b832",
+    "serials": [
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+      "17736741",
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+      1790047753435865227
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+  },
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+  "view_index": 0,
+  "instance": "occluder",
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+  "image_size_hw": [
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+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
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+  "source": "agent:c6a_20261027",
+  "note": "Draft whole visible person, including clothing, bare arm/hand, bracelet and any visible nonparticipating left hand; exclude table, robot and belt. Owner-directed sparse revision: at most five total positive/negative points, selected on the inspected native t0 image. Occluder includes whole person, clothes, and observed bracelet; physical hands exclude clothes/bracelet. Box and role identity unchanged.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
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+  "seed_model": {
+    "predictor": "sam2_video_predictor",
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