diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/C6A_REVIEW.md b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/C6A_REVIEW.md new file mode 100644 index 0000000000000000000000000000000000000000..4c9e260fad845db6dc8e3e5cfc1b2cdfaa065139 --- /dev/null +++ b/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. diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_A/t0000_v01.json b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_A/t0000_v01.json new file mode 100644 index 0000000000000000000000000000000000000000..c14d6dc847f53bd8b349b7bd2a6397724ba79995 --- /dev/null +++ b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_A/t0000_v01.json @@ -0,0 +1,105 @@ +{ + "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": [ + 307, + 775 + ], + "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 + ], + "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres", + "points_uv": [ + [ + 523.0, + 780.0 + ], + [ + 629.0, + 756.0 + ], + [ + 701.0, + 767.0 + ], + [ + 568.0, + 778.0 + ], + [ + 458.0, + 780.0 + ] + ], + "labels": [ + 1, + 1, + 1, + 0, + 0 + ], + "box_uv": [ + 484.0, + 695.0, + 731.0, + 832.0 + ], + "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" +} diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..4a08a3a9c4670e5b17f0df28f899a60b2dd26b5f --- /dev/null +++ b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:643e4485ad9552e9f188a2092e7f64065770fdefd43963e925f380b91abc6a31 +size 1674 diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_B/t0000_v01.json b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_B/t0000_v01.json new file mode 100644 index 0000000000000000000000000000000000000000..f3db68ed953d7f482401093bc7ebdc1127edc590 --- /dev/null +++ b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/hand_B/t0000_v01.json @@ -0,0 +1,56 @@ +{ + "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": [ + 307, + 775 + ], + "anchor_time_ns_first_last": [ + 1790047737827131803, + 1790047753435865227 + ], + "frame_association_mode": "per_camera_native_range" + }, + "serial": "12540311", + "view_index": 0, + "instance": "hand_B", + "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 + ], + "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 + ] +} diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/object/t0000_v01.json b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/object/t0000_v01.json new file mode 100644 index 0000000000000000000000000000000000000000..a7bbd1d1808653cc7aed390d614ddeb8b048e895 --- /dev/null +++ b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/object/t0000_v01.json @@ -0,0 +1,105 @@ +{ + "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": [ + 307, + 775 + ], + "anchor_time_ns_first_last": [ + 1790047737827131803, + 1790047753435865227 + ], + "frame_association_mode": "per_camera_native_range" + }, + "serial": "12540311", + "view_index": 0, + "instance": "object", + "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 + ], + "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres", + "points_uv": [ + [ + 855.0, + 618.0 + ], + [ + 1006.0, + 755.0 + ], + [ + 928.0, + 836.0 + ], + [ + 715.0, + 684.0 + ], + [ + 860.0, + 728.0 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0 + ], + "box_uv": [ + 698.0, + 596.0, + 1027.0, + 860.0 + ], + "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" +} diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..e2c3a05cfca93a2167419e6ac94c9235914f5292 --- /dev/null +++ b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d78c89d718f66f4e86cb2001c6d5aefcc7e10dbaa2d80f16c162d40e606c786 +size 2394 diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/occluder/t0000_v01.json b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/occluder/t0000_v01.json new file mode 100644 index 0000000000000000000000000000000000000000..65245eeeeaba3a90ce1b06dcc271c202a386cdaf --- /dev/null +++ b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/annotations/prompts/12540311/occluder/t0000_v01.json @@ -0,0 +1,105 @@ +{ + "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": [ + 307, + 775 + ], + "anchor_time_ns_first_last": [ + 1790047737827131803, + 1790047753435865227 + ], + "frame_association_mode": "per_camera_native_range" + }, + "serial": "12540311", + "view_index": 0, + "instance": "occluder", + "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 + ], + "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres", + "points_uv": [ + [ + 150.0, + 810.0 + ], + [ + 420.0, + 790.0 + ], + [ + 523.0, + 780.0 + ], + [ + 568.0, + 778.0 + ], + [ + 629.0, + 756.0 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1 + ], + "box_uv": [ + 0.0, + 643.0, + 735.0, + 944.0 + ], + "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. 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Copy the + current integer-nanosecond timestamp at the desired start/end moments. + notes: '' +timebase: + policy: native_anchor_overlap + sync_policy: AnchorStreamSyncPolicy + overlap: true + anchor_serial: '12540311' + anchor_stream_id: zed_12540311_left_rgb + timestamp_unit: ns + timestamp_reference: sync_time_ns + period_ns_estimate: 33445099 + fps_estimate: 29.899747 +manual_annotation: + start_global_timestamp_ns: 1790047737827131803 + end_global_timestamp_ns: 1790047753435865227 + start_condition: hand_or_forearm_visible_and_in_contact_with_object + end_condition: before_release_or_contact_break + expected_visible_hands_or_arms: 1 + object_description: grey timing belt + controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left + hand. Participating: hand_A' + annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed + interaction. Start: right fingertips first overlap the loop rim in the zoomed + anchor view at 304-305 (small gap at 303); contact is unambiguous in 12540311, + 12933256 and 17736741 by anchor 308, so 308 is used. End: the hand keeps its grasp + while the loop is lowered and laid flat (~714-760); at 776-777 the hand opens + and moves over the loop (12933256 shows fingers lifting off by anchor ~778), then + withdraws with motion blur 778-781. 775 is the last frame of the stable grasp + before the release motion.' +resolved_window: + start_sync_index: 307 + end_sync_index_exclusive: 775 + start_anchor_timestamp_ns: 1790047737827131803 + end_anchor_timestamp_ns: 1790047753435865227 + frame_count: 468 + duration_s: 15.608733 +per_camera_resolution: + '12540311': + start_source_frame_index: 308 + end_source_frame_index_exclusive: 776 + start_source_timestamp_ns: 1790047737827131803 + end_source_timestamp_ns: 1790047753435865227 + start_delta_ns: 0 + end_delta_ns: 0 + '12933256': + start_source_frame_index: 309 + end_source_frame_index_exclusive: 777 + start_source_timestamp_ns: 1790047737830607449 + end_source_timestamp_ns: 1790047753442365284 + start_delta_ns: 3475646 + end_delta_ns: 6500057 + '17736741': + start_source_frame_index: 310 + end_source_frame_index_exclusive: 778 + start_source_timestamp_ns: 1790047737833752108 + end_source_timestamp_ns: 1790047753445270327 + start_delta_ns: 6620305 + end_delta_ns: 9405100 + '23007103': + start_source_frame_index: 310 + end_source_frame_index_exclusive: 778 + start_source_timestamp_ns: 1790047737835693357 + end_source_timestamp_ns: 1790047753449618111 + start_delta_ns: 8561554 + end_delta_ns: 13752884 +validation: + within_all_camera_overlap: true + start_before_end: true + min_abs_camera_delta_ns: 0 + max_abs_camera_delta_ns: 13752884 + warnings: [] +created_by: manual +created_at: '2026-10-27T19:28:14+00:00' +updated_at: '2026-10-27T19:28:14+00:00' + diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/proposal_prompts_c6a_before_owner_sparse.json b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/proposal_prompts_c6a_before_owner_sparse.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9adad9567a13b3c9aee39a1d0e8c020039a6dc --- /dev/null +++ b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/proposal_prompts_c6a_before_owner_sparse.json @@ -0,0 +1,655 @@ +{ + "proposer": "c6a_20261027", + "prompts": [ + { + "serial": "12540311", + "instance": "object", + "t": 0, + "points": [ + [ + 855, + 618 + ], + [ + 988, + 667 + ], + [ + 1006, + 755 + ], + [ + 928, + 836 + ], + [ + 786, + 818 + ], + [ + 715, + 684 + ], + [ + 860, + 728 + ], + [ + 640, + 760 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 698, + 596, + 1027, + 860 + ], + "note": "Draft from exact native t=0 RGB: grey timing-belt band only; exclude interior table, shadow and hand." + }, + { + "serial": "12540311", + "instance": "hand_A", + "t": 0, + "points": [ + [ + 523, + 780 + ], + [ + 629, + 756 + ], + [ + 701, + 767 + ], + [ + 568, + 778 + ], + [ + 458, + 780 + ], + [ + 747, + 790 + ] + ], + "labels": [ + 1, + 1, + 1, + 0, + 0, + 0 + ], + "box": [ + 484, + 695, + 731, + 832 + ], + "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and belt." + }, + { + "serial": "12540311", + "instance": "occluder", + "t": 0, + "points": [ + [ + 150, + 810 + ], + [ + 420, + 790 + ], + [ + 523, + 780 + ], + [ + 629, + 756 + ], + [ + 860, + 728 + ], + [ + 800, + 900 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 0, + 643, + 735, + 944 + ], + "note": "Draft whole visible person, including clothing, bare arm/hand, bracelet and any visible nonparticipating left hand; exclude table, robot and belt." + }, + { + "serial": "12933256", + "instance": "object", + "t": 0, + "points": [ + [ + 926, + 514 + ], + [ + 820, + 558 + ], + [ + 853, + 638 + ], + [ + 978, + 656 + ], + [ + 1078, + 624 + ], + [ + 1040, + 528 + ], + [ + 950, + 580 + ], + [ + 1160, + 515 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 793, + 491, + 1107, + 679 + ], + "note": "Draft from exact native t=0 RGB: grey timing-belt band only; exclude interior table, shadow and hand." + }, + { + "serial": "12933256", + "instance": "hand_A", + "t": 0, + "points": [ + [ + 1278, + 487 + ], + [ + 1175, + 522 + ], + [ + 1086, + 558 + ], + [ + 1128, + 582 + ], + [ + 1232, + 507 + ], + [ + 1340, + 485 + ], + [ + 1060, + 629 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0, + 0, + 0 + ], + "box": [ + 1060, + 441, + 1329, + 606 + ], + "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and belt." + }, + { + "serial": "12933256", + "instance": "occluder", + "t": 0, + "points": [ + [ + 1815, + 135 + ], + [ + 1555, + 350 + ], + [ + 1285, + 480 + ], + [ + 1175, + 522 + ], + [ + 950, + 580 + ], + [ + 1300, + 640 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 1060, + 0, + 1919, + 608 + ], + "note": "Draft whole visible person, including clothing, bare arm/hand, bracelet and any visible nonparticipating left hand; exclude table, robot and belt." + }, + { + "serial": "17736741", + "instance": "object", + "t": 0, + "points": [ + [ + 1005, + 550 + ], + [ + 1135, + 589 + ], + [ + 1180, + 670 + ], + [ + 1108, + 774 + ], + [ + 990, + 778 + ], + [ + 898, + 695 + ], + [ + 891, + 628 + ], + [ + 1040, + 670 + ], + [ + 780, + 588 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 877, + 531, + 1192, + 802 + ], + "note": "Draft from exact native t=0 RGB: grey timing-belt band only; exclude interior table, shadow and hand." + }, + { + "serial": "17736741", + "instance": "hand_A", + "t": 0, + "points": [ + [ + 651, + 547 + ], + [ + 764, + 583 + ], + [ + 845, + 590 + ], + [ + 816, + 624 + ], + [ + 698, + 561 + ], + [ + 585, + 530 + ], + [ + 905, + 610 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0, + 0, + 0 + ], + "box": [ + 603, + 497, + 891, + 650 + ], + "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and belt." + }, + { + "serial": "17736741", + "instance": "occluder", + "t": 0, + "points": [ + [ + 107, + 400 + ], + [ + 360, + 439 + ], + [ + 510, + 500 + ], + [ + 651, + 547 + ], + [ + 764, + 583 + ], + [ + 1040, + 670 + ], + [ + 500, + 690 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 0, + 100, + 895, + 740 + ], + "note": "Draft whole visible person, including clothing, bare arm/hand, bracelet and any visible nonparticipating left hand; exclude table, robot and belt." + }, + { + "serial": "23007103", + "instance": "object", + "t": 0, + "points": [ + [ + 1005, + 476 + ], + [ + 1110, + 503 + ], + [ + 1151, + 543 + ], + [ + 1090, + 587 + ], + [ + 987, + 599 + ], + [ + 915, + 545 + ], + [ + 1030, + 540 + ], + [ + 1147, + 430 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 900, + 455, + 1167, + 617 + ], + "note": "Draft from exact native t=0 RGB: grey timing-belt band only; exclude interior table, shadow and hand." + }, + { + "serial": "23007103", + "instance": "hand_A", + "t": 0, + "points": [ + [ + 1210, + 336 + ], + [ + 1150, + 400 + ], + [ + 1142, + 446 + ], + [ + 1123, + 418 + ], + [ + 1184, + 358 + ], + [ + 1243, + 329 + ], + [ + 1114, + 505 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0, + 0, + 0 + ], + "box": [ + 1098, + 305, + 1246, + 480 + ], + "note": "Draft participating right hand, fingers and visible bare forearm; exclude bracelet, sleeve and belt." + }, + { + "serial": "23007103", + "instance": "occluder", + "t": 0, + "points": [ + [ + 1440, + 160 + ], + [ + 1310, + 220 + ], + [ + 1210, + 336 + ], + [ + 1150, + 400 + ], + [ + 1595, + 237 + ], + [ + 1030, + 540 + ], + [ + 1280, + 440 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 1096, + 0, + 1722, + 482 + ], + "note": "Draft whole visible person, including clothing, bare arm/hand, bracelet and any visible nonparticipating left hand; exclude table, robot and belt." + }, + { + "serial": "12540311", + "instance": "hand_B", + "t": 0, + "absence_stop": 468, + "note": "Draft: no participating left hand in this single-right-hand interaction. Any visible nonparticipating left hand belongs only to occluder." + }, + { + "serial": "12933256", + "instance": "hand_B", + "t": 0, + "absence_stop": 468, + "note": "Draft: no participating left hand in this single-right-hand interaction. Any visible nonparticipating left hand belongs only to occluder." + }, + { + "serial": "17736741", + "instance": "hand_B", + "t": 0, + "absence_stop": 468, + "note": "Draft: no participating left hand in this single-right-hand interaction. Any visible nonparticipating left hand belongs only to occluder." + }, + { + "serial": "23007103", + "instance": "hand_B", + "t": 0, + "absence_stop": 468, + "note": "Draft: no participating left hand in this single-right-hand interaction. Any visible nonparticipating left hand belongs only to occluder." + } + ] +} diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/proposal_prompts_c6a_sparse_v1.json b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/proposal_prompts_c6a_sparse_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..b568eb80e3643287442569016d4656f118b68181 --- /dev/null +++ b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/proposal_prompts_c6a_sparse_v1.json @@ -0,0 +1,525 @@ +{ + "proposer": "c6a_20261027", + "prompts": [ + { + "serial": "12540311", + "instance": "object", + "t": 0, + "points": [ + [ + 855, + 618 + ], + [ + 1006, + 755 + ], + [ + 928, + 836 + ], + [ + 715, + 684 + ], + [ + 860, + 728 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0 + ], + "box": [ + 698, + 596, + 1027, + 860 + ], + "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." + }, + { + "serial": "12540311", + "instance": "hand_A", + "t": 0, + "points": [ + [ + 523, + 780 + ], + [ + 629, + 756 + ], + [ + 701, + 767 + ], + [ + 568, + 778 + ], + [ + 458, + 780 + ] + ], + "labels": [ + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 484, + 695, + 731, + 832 + ], + "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." + }, + { + "serial": "12540311", + "instance": "occluder", + "t": 0, + "points": [ + [ + 150, + 810 + ], + [ + 420, + 790 + ], + [ + 523, + 780 + ], + [ + 568, + 778 + ], + [ + 629, + 756 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1 + ], + "box": [ + 0, + 643, + 735, + 944 + ], + "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." + }, + { + "serial": "12933256", + "instance": "object", + "t": 0, + "points": [ + [ + 926, + 514 + ], + [ + 820, + 558 + ], + [ + 978, + 656 + ], + [ + 1078, + 624 + ], + [ + 950, + 580 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0 + ], + "box": [ + 793, + 491, + 1107, + 679 + ], + "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." + }, + { + "serial": "12933256", + "instance": "hand_A", + "t": 0, + "points": [ + [ + 1278, + 487 + ], + [ + 1175, + 522 + ], + [ + 1086, + 558 + ], + [ + 1232, + 507 + ], + [ + 1340, + 485 + ] + ], + "labels": [ + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 1060, + 441, + 1329, + 606 + ], + "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." + }, + { + "serial": "12933256", + "instance": "occluder", + "t": 0, + "points": [ + [ + 1815, + 135 + ], + [ + 1555, + 350 + ], + [ + 1285, + 480 + ], + [ + 1232, + 507 + ], + [ + 1175, + 522 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1 + ], + "box": [ + 1060, + 0, + 1919, + 608 + ], + "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." + }, + { + "serial": "17736741", + "instance": "object", + "t": 0, + "points": [ + [ + 1005, + 550 + ], + [ + 1180, + 670 + ], + [ + 990, + 778 + ], + [ + 891, + 628 + ], + [ + 1040, + 670 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0 + ], + "box": [ + 877, + 531, + 1192, + 802 + ], + "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." + }, + { + "serial": "17736741", + "instance": "hand_A", + "t": 0, + "points": [ + [ + 651, + 547 + ], + [ + 764, + 583 + ], + [ + 845, + 590 + ], + [ + 698, + 561 + ], + [ + 585, + 530 + ] + ], + "labels": [ + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 603, + 497, + 891, + 650 + ], + "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." + }, + { + "serial": "17736741", + "instance": "occluder", + "t": 0, + "points": [ + [ + 107, + 400 + ], + [ + 510, + 500 + ], + [ + 651, + 547 + ], + [ + 698, + 561 + ], + [ + 764, + 583 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1 + ], + "box": [ + 0, + 100, + 895, + 740 + ], + "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." + }, + { + "serial": "23007103", + "instance": "object", + "t": 0, + "points": [ + [ + 1005, + 476 + ], + [ + 1151, + 543 + ], + [ + 987, + 599 + ], + [ + 915, + 545 + ], + [ + 1030, + 540 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 0 + ], + "box": [ + 900, + 455, + 1167, + 617 + ], + "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." + }, + { + "serial": "23007103", + "instance": "hand_A", + "t": 0, + "points": [ + [ + 1210, + 336 + ], + [ + 1150, + 400 + ], + [ + 1142, + 446 + ], + [ + 1184, + 358 + ], + [ + 1243, + 329 + ] + ], + "labels": [ + 1, + 1, + 1, + 0, + 0 + ], + "box": [ + 1098, + 305, + 1246, + 480 + ], + "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." + }, + { + "serial": "23007103", + "instance": "occluder", + "t": 0, + "points": [ + [ + 1440, + 160 + ], + [ + 1595, + 237 + ], + [ + 1210, + 336 + ], + [ + 1184, + 358 + ], + [ + 1150, + 400 + ] + ], + "labels": [ + 1, + 1, + 1, + 1, + 1 + ], + "box": [ + 1096, + 0, + 1722, + 482 + ], + "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." + }, + { + "serial": "12540311", + "instance": "hand_B", + "t": 0, + "absence_stop": 468, + "note": "Draft: no participating left hand in this single-right-hand interaction. Any visible nonparticipating left hand belongs only to occluder." + }, + { + "serial": "12933256", + "instance": "hand_B", + "t": 0, + "absence_stop": 468, + "note": "Draft: no participating left hand in this single-right-hand interaction. Any visible nonparticipating left hand belongs only to occluder." + }, + { + "serial": "17736741", + "instance": "hand_B", + "t": 0, + "absence_stop": 468, + "note": "Draft: no participating left hand in this single-right-hand interaction. Any visible nonparticipating left hand belongs only to occluder." + }, + { + "serial": "23007103", + "instance": "hand_B", + "t": 0, + "absence_stop": 468, + "note": "Draft: no participating left hand in this single-right-hand interaction. Any visible nonparticipating left hand belongs only to occluder." + } + ] +} diff --git a/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/window_command.json b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/window_command.json new file mode 100644 index 0000000000000000000000000000000000000000..d2074d05d29ecd2cf512f96d1851d33054d92254 --- /dev/null +++ b/sessions/session_20260921_232822_920324/preprocessing/mask-supplier-window-anchor0308-0775/native/window_command.json @@ -0,0 +1,22 @@ +[ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3", + "scripts/phystwin_annotate_converted_session_window.py", + "--session-path", + "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232822_920324", + "--anchor-serial", + "12540311", + "--start-timestamp-ns", + "1790047737827131803", + "--end-timestamp-ns", + "1790047753435865227", + "--expected-visible-hands-or-arms", + "1", + "--object-description", + "grey timing belt", + "--controller-description", + "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", + "--notes", + "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: right fingertips first overlap the loop rim in the zoomed anchor view at 304-305 (small gap at 303); contact is unambiguous in 12540311, 12933256 and 17736741 by anchor 308, so 308 is used. End: the hand keeps its grasp while the loop is lowered and laid flat (~714-760); at 776-777 the hand opens and moves over the loop (12933256 shows fingers lifting off by anchor ~778), then withdraws with motion blur 778-781. 775 is the last frame of the stable grasp before the release motion.", + "--output-path", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232822_920324/window_anchor0308-0775/phystwin_window.yaml" +]