sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1: payload batch 4/4

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/mech_center_ribbon_argv.json

@@ -0,0 +1,14 @@
+{
+  "argv": [
+    "/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/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/mech_center_ribbon_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 857.427660233996
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision.log

@@ -0,0 +1,44 @@
+{
+ "populations": {
+  "P_chamfer_targets": 6191,
+  "genuine_t_pairs": 1556,
+  "N": 1556,
+  "S": 1669,
+  "A": 1669,
+  "added_surface": 113,
+  "interior": 0,
+  "controls": 30,
+  "controls_by_hand": {
+   "hand_A": 30
+  }
+ },
+ "initialization_groups": {
+  "initialized_original": 1556,
+  "in_band_not_initialized": 4543,
+  "outside_initial_band": 92
+ },
+ "denominators": {
+  "D_C": 5988,
+  "D_T": 1399,
+  "rule": "RT-S2, fixed for the whole run; C/T weights unchanged"
+ },
+ "graph": {
+  "object_springs": 27735,
+  "controller_springs": 886,
+  "object_rest_min_max_m": [
+   0.00021681806538254023,
+   0.019979629665613174
+  ],
+  "controller_rest_min_max_m": [
+   0.004217544104903936,
+   0.039999961853027344
+  ],
+  "isolated_object_nodes": 0,
+  "attached_object_nodes": 126,
+  "controls_without_attachment": 0,
+  "attachments_by_hand": {
+   "hand_A": 886
+  }
+ },
+ "passed": true
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_argv.json

@@ -0,0 +1,14 @@
+{
+  "argv": [
+    "/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/scripts/prepare_rt3_mesh_center_model.py",
+    "--rt-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/mech_center_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 614.3698785390006
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/mech_ribbon_argv.json

@@ -0,0 +1,34 @@
+{
+  "argv": [
+    "/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/scripts/prepare_rt3_lifting.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/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_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "58b0490fb60eda31a008e8c364e4e12a744af4f782da897fc26e8bf7a6ccc5b6",
+    "--accepted-prior-manifest-sha256",
+    "8793b3cecb9bf92b56cf66fc819c8bdd444b402ff93f782472e3ea9fdb41afa4",
+    "--participating-hand",
+    "hand_A",
+    "--mechanical-prior",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/prior_timing_v1",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/mech_ribbon_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 685.3414274370007
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/mech_supervision_argv.json

@@ -0,0 +1,38 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-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_232242_960732/window_anchor0307-0584",
+    "--selected-session",
+    "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232242_960732",
+    "--selected-frames",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/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_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/tapnextpp_tracks",
+    "--retained-lifts",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/rt3_lifts/lifted",
+    "--accepted-mesh-sha256",
+    "58b0490fb60eda31a008e8c364e4e12a744af4f782da897fc26e8bf7a6ccc5b6",
+    "--accepted-prior-manifest-sha256",
+    "8793b3cecb9bf92b56cf66fc819c8bdd444b402ff93f782472e3ea9fdb41afa4",
+    "--participating-hand",
+    "hand_A",
+    "--supervision-policy",
+    "initialization_only_mesh_gate_v1",
+    "--mechanical-binding",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/mechanics_ribbon_v1/mesh/binding.json",
+    "--premesh-fitting",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/rt3_lifts/fitting",
+    "--mesh-rules",
+    "ribbon_10mm_surface_only_v1",
+    "--output",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/supervision"
+  ],
+  "environment": {
+    "CUDA_VISIBLE_DEVICES": "",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock"
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/mech_supervision_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 804.4334546070022
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md

@@ -0,0 +1,59 @@
+# session_20260921_232242_960732 — initial prior approved by owner
+
+Saved C2 **grey_timing_belt** prior evidence (width 25.00 mm, zero-thickness surface). **Agent visual and numerical review is complete; owner initial-prior approval remains pending.** The initial ribbon is ready for owner review with the geometry and later dynamic-measurement limitations below. This packet records no acceptance or physical-fit readiness.
+
+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 / 307 / 308 | [centerline](<../prior_timing_v1/review/spline/centerline_0_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 0 / 307 / 308 | [centerline](<../prior_timing_v1/review/spline/centerline_1_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_1_12933256.png>) |
+| 17736741 | 1 / 308 / 309 | [centerline](<../prior_timing_v1/review/spline/centerline_2_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_2_17736741.png>) |
+| 23007103 | 0 / 307 / 308 | [centerline](<../prior_timing_v1/review/spline/centerline_3_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_timing_v1/review/ribbon/orbit.mp4>) · [Geometry and depth cloud](<../prior_timing_v1/review/ribbon/ribbon_scale_views.png>) · [Residual histograms](<../prior_timing_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_timing_v1/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **664.335 mm**, maximum curvature **13.661/m**, final gradient norm **4.91761e-08**. Soft length bounds are 664.000–666.000 mm; distance outside those bounds is 0.000 mm.
+
+The timing prior has a separate stage 2 with the centerline frozen: **10 twist iterations**, saved success `True`, stop `CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH`. [Twist and width directions](<../prior_timing_v1/review/ribbon/twist_and_width_direction.png>).
+
+Saved geometry checks report `passed=True`: **450 mesh vertices / 720 triangles**, 1 component(s), `watertight=False`, `self_intersecting=False`. [Full geometry checks](<../prior_timing_v1/ribbon/ribbon_checks.json>).
+
+The following 3D residuals are lifted-depth point distances to the **ribbon surface**, not measured reconstruction errors. The fraction of visible projected ribbon surface samples inside the mask is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision.
+
+| Camera | Median / p90 3D residual (mm) | Visible ribbon surface inside mask | Native depth and visibility evidence |
+|---|---|---|---|
+| 12540311 | 2.684 / 6.610 | 96.95% | [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 | 1.768 / 4.198 | 91.56% | [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 | 1.866 / 4.322 | 93.85% | [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 | 4.443 / 8.562 | 96.53% | [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 **39841 of 41210** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **39841 observed + 21600 mesh-derived = 61441 seeds**. Vertex colors are observed for 420 mesh vertices and median-filled for 30. 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_timing_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_timing_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>)
+
+[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>)
+
+[Manifest](<../prior_timing_v1/manifest.json>) · [Fit settings and metrics](<../prior_timing_v1/steps/fit.json>) · [Reference observations](<../prior_timing_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+**Agent findings.** All **22** initial input, centerline, ribbon silhouette, spatial/depth, residual, color, hybrid and twist images were inspected, together with orbit frames 0, 4, 8, 12, 16, 20, 24, 28 and 32 of 36. These were direct selected-frame reads; no full-decode or continuous-playback claim is made. [Exact findings and coverage](<agent_findings.json>).
+
+The upright band and its visible width align closely in all four views, with small local edge offsets and an inferred grip segment. The foreground arm occludes a longer arc in cameras 12540311 and 17736741. The twist plot and sampled orbit show smooth width-direction variation without a gross width flip, collapse or crossing. Dense sampled twist spans **−0.075271 to 0.156396 rad**, with mean absolute width-direction z **0.994796**. The orbit displays sampled vertices; the mesh checks establish the reported topology.
+
+**The open geometry is intentional:** **450 vertices / 720 triangles**, one consistently wound annulus, two **90-edge width boundaries**, no self-intersections or degenerate triangles, and `watertight=False`. The approved representation has **25 mm width and zero thickness**, with no interior particles or tooth geometry. The hidden grip segment and 30 median-filled vertex colors are not direct observations.
+
+**The two fit stages remain distinct.** Stage 1 used the approved centerline mask approximation and retained its single last round, stopping at gradient tolerance with norm **2.935554e-4**. Stage 2 froze those centerline control points exactly and refined nine twist knots using Q12 surface distance, the weight-4 two-sided surface mask term and the twist-rate penalty. It retained its last iterate after **10 iterations / 33 evaluations**, with `success=True`, stop `CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH`, and **zero bound knots**. The raw-knot bound is **±3.451392** (physical twist within **±0.8π**). Final twist-rate p90/max is **2.268 / 2.737 rad/m**, below the soft 10/m threshold; its saved penalty is zero. The final gradient above belongs to stage 2. The stages use different mask objectives, so their total losses are not directly comparable; solver success does not establish global optimality or material torsional stiffness.
+
+Length is **664.335 mm**, within the 664–666 mm soft bounds but only **0.335 mm** above the lower bound; the saved within-1-mm flag is **true**. Maximum curvature is **13.661/m**, with **35.6%** of samples above the soft 10/m threshold. Minimum ribbon z is **−3.196 mm** relative to nominal table z=0. Belt-interior-minus-local-table medians are **13.030 / 12.676 / 12.048 / 13.908 mm** in camera order. The spatial/hybrid plots retain nearby lateral bands and depth spread beyond the width edges. No depth correction was applied; table contact remains uncertain.
+
+**Reporting interpretation:** the table reports visible projected **ribbon surface samples** inside the mask (**96.95 / 91.56 / 93.85 / 96.53%**), not centerline coverage or silhouette IoU. The saved residual-histogram image inherits the axis label “centerline residual”; its actual values are **ribbon-surface distances**, as verified against the stored arrays and final fit report. Camera 23007103 has the largest median/p90 surface residuals, **4.443 / 8.562 mm**. The image and scientific payload were preserved; the packet and packaging-helper labels are corrected.
+
+**Later dynamic measurements retain a material limitation.** The [reference findings and exact source trace](<../review_v1/agent_findings.json>) record camera **12933256, query 160** at native-window rows **165 / 166 / 167** with stored depths **1087 / 1888 / 1099 mm**, despite smooth 2D motion and admitted object-interior membership. The bad row is converted frame **473**, native-container frame **474**. Interpolation leaves derived object point **739** visibly displaced at samples **166 and 167**; at sample 166 its nearest other visible object point is **585.409 mm** away. The adjacent motion links are invalid, but the point remains admitted for positional/Chamfer supervision. The initial sample was unaffected in the reference review. No point was removed or repaired, and this initial-prior review does not approve a physical fit on those later measurements.
+
+Owner initial-prior approval remains pending. No scientific payload, source settings, case status or downstream approval was changed. No post-prior mechanical population, trained appearance or physical-fit result is assessed here.
+
+## Owner decision, 2026-10-28
+
+“Approve 232242’s initial prior”. Accept this initial 25 mm zero-thickness ribbon prior for surface-only mechanical inputs and reference static appearance. Preserve the documented later admitted depth outlier; trained appearance acceptance and physical fitting remain separate.

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json

@@ -0,0 +1,487 @@
+{
+  "case": "session_20260921_232242_960732/window_anchor0307-0584",
+  "reviewed_at_utc": "2026-10-28T19:43:45.620066+00:00",
+  "review_kind": "bounded agent review of the completed C2 initial 25 mm timing-ribbon prior",
+  "readiness": "ready_for_owner_initial_prior_review_with_recorded_geometry_and_later_dynamic_measurement_limitations",
+  "blocking_findings_for_initial_prior": [],
+  "owner_prior_approval": "pending; this record grants no owner acceptance or downstream authorization",
+  "scope": {
+    "goal": "Review the saved frame-zero timing-belt shape under the approved Q1/Q7-Q12 two-stage ribbon recipe.",
+    "done_when": "Four input panels, four centerline overlays, eight ribbon overlays, six spatial/twist/diagnostic plots, nine orbit frames and saved numerical evidence are inspected and limitations recorded.",
+    "non_goals": [
+      "No prior or observation reruns, settings changes or filtering",
+      "No thickness or interior-particle construction",
+      "No trained appearance, mechanical fitting, owner acceptance or global case-status changes"
+    ],
+    "validation": "All eight prior stages and packaging succeeded. Actual visual coverage is 22 images and nine selected orbit frames. Saved centerline preservation, final-iterate identity and residual arrays were checked; report labels and links were checked."
+  },
+  "image_path_base": "../prior_timing_v1/review",
+  "inspected_images": [
+    "inputs/view_0_12540311.png",
+    "inputs/view_1_12933256.png",
+    "inputs/view_2_17736741.png",
+    "inputs/view_3_23007103.png",
+    "spline/centerline_0_with_masks.png",
+    "spline/centerline_1_with_masks.png",
+    "spline/centerline_2_with_masks.png",
+    "spline/centerline_3_with_masks.png",
+    "ribbon/silhouette_0_with_masks.png",
+    "ribbon/silhouette_1_with_masks.png",
+    "ribbon/silhouette_2_with_masks.png",
+    "ribbon/silhouette_3_with_masks.png",
+    "ribbon/silhouette_0_unmasked.png",
+    "ribbon/silhouette_1_unmasked.png",
+    "ribbon/silhouette_2_unmasked.png",
+    "ribbon/silhouette_3_unmasked.png",
+    "ribbon/ribbon_scale_views.png",
+    "spline/residual_histograms.png",
+    "inputs/depth_offset.png",
+    "colors/visibility_and_fill.png",
+    "hybrid/combined.png",
+    "ribbon/twist_and_width_direction.png"
+  ],
+  "inspected_videos": {
+    "../prior_timing_v1/review/ribbon/orbit.mp4": {
+      "reported_frame_count": 36,
+      "fps": 12.0,
+      "duration_s": 3.0,
+      "visually_inspected_frame_indices": [
+        0,
+        4,
+        8,
+        12,
+        16,
+        20,
+        24,
+        28,
+        32
+      ],
+      "visual_method": "Nine directly selected frames inspected individually; no full-decode or continuous-playback claim. The orbit displays sampled ribbon vertices rather than a shaded continuous surface."
+    }
+  },
+  "inspected_data": [
+    "prior_metrics.json",
+    "../prior_timing_v1/steps/fit.json",
+    "../prior_timing_v1/ribbon/ribbon_checks.json",
+    "../prior_timing_v1/spline/reprojection.json",
+    "../prior_timing_v1/inputs/depth_offset_diagnostic.json",
+    "../prior_timing_v1/steps/colors.json",
+    "../prior_timing_v1/steps/hybrid.json",
+    "../prior_timing_v1/spline/spline_stage1.json",
+    "../prior_timing_v1/spline/spline_fit.json",
+    "../prior_timing_v1/spline/rounds.jsonl",
+    "../prior_timing_v1/spline/twist_trajectory.jsonl",
+    "../prior_timing_v1/spline/residuals.npz",
+    "../review_v1/agent_findings.json"
+  ],
+  "saved_metrics": {
+    "representation": {
+      "name": "grey_timing_belt",
+      "representation": "ribbon",
+      "fitter_source": "spline_estimation.timing_belt_fitting (scratch/test_timing_belt_perception.py)",
+      "dimension_source": "demonstrated 25 mm width; surface only, no interior (corpus Q1, 2026-10-25)",
+      "radius_m": null,
+      "ribbon_width_m": 0.025,
+      "step_t": 0.1,
+      "step_angle_deg": null,
+      "u_resolution": 5,
+      "overlap_rule": null,
+      "twist_penalty": {
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+        "threshold_per_m": 10.0,
+        "huber_per_m": 30.0,
+        "cap_per_m": 80.0,
+        "weight": 5e-08
+      }
+    },
+    "stage1": {
+      "rounds": 1,
+      "stop": "gradient_tolerance",
+      "last_round": {
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+        "components": {
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+          "curvature": 1.7108446215274853e-08,
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+        "per_view": [
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+            "at_cap_fraction": 0.0
+          },
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+            "count": 12836,
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+            "max_m": 0.006043986417353153,
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+            "at_cap_fraction": 0.0
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+          {
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+            "at_cap_fraction": 0.0
+          },
+          {
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+            "count": 10265,
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+            "max_m": 0.01582258939743042,
+            "beyond_2delta_fraction": 0.06390647832440331,
+            "at_cap_fraction": 0.0
+          }
+        ],
+        "ribbon": {
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+          "twist_rate_p90_max_per_m": [
+            0.00016765695181675253,
+            0.0001914600725285709
+          ],
+          "theta_at_knots_rad": [
+            3.8476828194689006e-06,
+            3.369882506376598e-06,
+            6.549136742250994e-06,
+            1.4605689102609176e-05,
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+            -8.47281171445502e-06,
+            -3.6822520996793173e-06,
+            2.220407623099163e-06
+          ],
+          "theta_min_max_rad": [
+            -8.939580766309518e-06,
+            1.4637280401075259e-05
+          ],
+          "width_direction_abs_z_mean": 0.9988079382396343,
+          "closest_u_abs_mean": 0.5014410913132696,
+          "closest_u_at_width_edge_fraction": 0.10002258979443288
+        },
+        "round": 1,
+        "relative_loss_change": 0.9866256293432888
+      }
+    },
+    "stage2": {
+      "settings": {
+        "stage": "2 of 2; centerline control points frozen at stage 1, nine raw twist knots free",
+        "start": "stage-1 knots reduced modulo pi to bounded twist in (-pi/2, pi/2]",
+        "loss": "3D ribbon distance + weight x two-sided surface mask term + twist penalty",
+        "twist_penalty": {
+          "samples": 250,
+          "threshold_per_m": 10.0,
+          "huber_per_m": 30.0,
+          "cap_per_m": 80.0,
+          "weight": 5e-08
+        },
+        "solver": "SciPy L-BFGS-B, knots within +-pi*atanh(0.8) (twist within +-0.8 pi); objective / start value; ftol 1e-7 (the stage-1 relative rule), gtol 1e-12, maxls 20, maxiter = rounds x 25"
+      },
+      "start_raw_theta": [
+        4.224973963576122e-06,
+        2.9167179036457324e-06,
+        4.327448550614471e-06,
+        1.906830766530522e-05,
+        7.033449946914443e-06,
+        -9.091778338213688e-06,
+        -9.441157999418692e-06,
+        -3.980459041488159e-06,
+        3.2694827041280385e-06
+      ],
+      "start_loss": 9.314311682828702e-06,
+      "bound_raw": 3.451392295223203,
+      "knots_at_bound": 0,
+      "iterations": 10,
+      "evaluations": 33,
+      "stop": "CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH",
+      "success": true,
+      "final_gradient_norm": 4.917611917676368e-08,
+      "final_loss": 9.069817679119296e-06,
+      "final_raw_theta": [
+        0.05019233503263093,
+        0.11276737919002139,
+        -0.08253360291051365,
+        0.2360001352937022,
+        0.05016859847459982,
+        -0.1148893232259238,
+        -0.011490561528414286,
+        -0.11093424759099495,
+        0.004288341293795403
+      ],
+      "final_ribbon_metrics": {
+        "width_m": 0.02500000037252903,
+        "twist_rate_p90_max_per_m": [
+          2.2675954818725588,
+          2.737394094467163
+        ],
+        "theta_at_knots_rad": [
+          0.05296581611037254,
+          0.06977655738592148,
+          0.0031055158469825983,
+          0.15182089805603027,
+          0.05362565815448761,
+          -0.07013487815856934,
+          -0.04529449716210365,
+          -0.07514219731092453,
+          -0.00726474542170763
+        ],
+        "theta_min_max_rad": [
+          -0.075270876288414,
+          0.15639595687389374
+        ],
+        "width_direction_abs_z_mean": 0.9947958989221515,
+        "closest_u_abs_mean": 0.5027886755177841,
+        "closest_u_at_width_edge_fraction": 0.10230666900931201
+      }
+    },
+    "stage_comparison_note": "Stage 1 uses the approved centerline mask approximation and stage 2 uses the two-sided surface mask term plus twist penalty; their total losses are not the same objective.",
+    "length_mm": 664.3347144126892,
+    "soft_length_bounds_mm": [
+      663.9999747276306,
+      666.0000085830688
+    ],
+    "distance_above_lower_length_bound_mm": 0.33473968505859375,
+    "arclength_bound_active_within_1mm": true,
+    "max_curvature_per_m": 13.660632133483887,
+    "fraction_above_soft_10_per_m_curvature_threshold": 0.356,
+    "statistical_filter": {
+      "method": "Open3D.remove_statistical_outlier",
+      "nb_neighbors": 20,
+      "std_ratio": 2.0,
+      "input_count": 41210,
+      "kept_count": 39841,
+      "removed_count": 1369,
+      "per_view": [
+        {
+          "view": 0,
+          "input": 8148,
+          "kept": 7891,
+          "removed": 257,
+          "live_20_0.05_kept": 3596,
+          "no_filter_kept": 8148
+        },
+        {
+          "view": 1,
+          "input": 13168,
+          "kept": 12836,
+          "removed": 332,
+          "live_20_0.05_kept": 10069,
+          "no_filter_kept": 13168
+        },
+        {
+          "view": 2,
+          "input": 9214,
+          "kept": 8849,
+          "removed": 365,
+          "live_20_0.05_kept": 7170,
+          "no_filter_kept": 9214
+        },
+        {
+          "view": 3,
+          "input": 10680,
+          "kept": 10265,
+          "removed": 415,
+          "live_20_0.05_kept": 3778,
+          "no_filter_kept": 10680
+        }
+      ]
+    },
+    "ribbon_vertices": 450,
+    "ribbon_triangles": 720,
+    "saved_geometry_checks": {
+      "representation": "zero-thickness intrinsic ribbon surface (open width edges)",
+      "euler_characteristic": 0,
+      "watertight": false,
+      "components": 1,
+      "winding_consistent": true,
+      "boundary_loop_edges": [
+        90,
+        90
+      ],
+      "degenerate_triangles": 0,
+      "open3d_reported_intersecting_pairs": 0,
+      "confirmed_intersecting_pairs": [],
+      "self_intersecting": false,
+      "maximum_width_error_m": 3.2521948398200884e-09,
+      "maximum_midline_error_m": 7.465118328985478e-09,
+      "maximum_tangent_width_dot": 5.243018062484062e-07,
+      "seam_surface_error_m": 0.0,
+      "minimum_nonadjacent_centerline_distance_m": 0.013311982299428687,
+      "theta_min_max_rad": [
+        -0.07514219731092453,
+        0.15601161122322083
+      ],
+      "width_direction_abs_z_mean": 0.9947954500481544,
+      "triangle_area_m2": {
+        "min": 2.0435534920395573e-05,
+        "median": 2.2796831464208482e-05,
+        "mean": 2.3063335986925743e-05,
+        "max": 2.7142671091753412e-05,
+        "density_max_over_min": 1.3282094742068054
+      },
+      "bounds_m": [
+        [
+          -0.11977629363536835,
+          -0.2563169002532959,
+          -0.003195675555616617
+        ],
+        [
+          0.0927521139383316,
+          -0.04283519461750984,
+          0.028171231970191002
+        ]
+      ],
+      "width_m": 0.02500000037252903,
+      "step_t": 0.1,
+      "u_resolution": 5,
+      "passed": true
+    },
+    "minimum_ribbon_z_mm": -3.195675555616617,
+    "depth_belt_minus_local_table_mm_by_serial": {
+      "12540311": 13.030209472593645,
+      "12933256": 12.676054984336439,
+      "17736741": 12.04836413412802,
+      "23007103": 13.9075115086153
+    },
+    "depth_correction_applied": false,
+    "per_view": {
+      "12540311": {
+        "median_ribbon_surface_distance_mm": 2.6837585028260946,
+        "p90_ribbon_surface_distance_mm": 6.609618663787842,
+        "visible_surface_inside_mask_fraction": 0.9695467422096318,
+        "selected_window_local_index": 0,
+        "converted_frame": 307,
+        "native_container_frame": 308,
+        "initial_grid_offset_ms": 4.905617
+      },
+      "12933256": {
+        "median_ribbon_surface_distance_mm": 1.767517882399261,
+        "p90_ribbon_surface_distance_mm": 4.198230104520917,
+        "visible_surface_inside_mask_fraction": 0.9155807365439094,
+        "selected_window_local_index": 0,
+        "converted_frame": 307,
+        "native_container_frame": 308,
+        "initial_grid_offset_ms": 10.371874
+      },
+      "17736741": {
+        "median_ribbon_surface_distance_mm": 1.8661824287846684,
+        "p90_ribbon_surface_distance_mm": 4.321543034166098,
+        "visible_surface_inside_mask_fraction": 0.9385219097449313,
+        "selected_window_local_index": 1,
+        "converted_frame": 308,
+        "native_container_frame": 309,
+        "initial_grid_offset_ms": -16.037155
+      },
+      "23007103": {
+        "median_ribbon_surface_distance_mm": 4.4425916858017445,
+        "p90_ribbon_surface_distance_mm": 8.561767637729645,
+        "visible_surface_inside_mask_fraction": 0.965261958997722,
+        "selected_window_local_index": 0,
+        "converted_frame": 307,
+        "native_container_frame": 308,
+        "initial_grid_offset_ms": 0.0
+      }
+    },
+    "appearance_seeds": {
+      "observed": 39841,
+      "mesh": 21600,
+      "total": 61441,
+      "mesh_to_observed": 0.5421550663888959
+    },
+    "vertex_colors": {
+      "observed_vertices": 420,
+      "filled_vertices": 30
+    },
+    "mechanical_population": {
+      "particle_count": null,
+      "total_unit_mass": null,
+      "status": "not produced by the prior run; no post-prior mechanics are evaluated here"
+    }
+  },
+  "saved_array_checks": {
+    "stage1_centerline_exactly_preserved": true,
+    "last_stage1_round_retained": true,
+    "last_twist_raw_knots_exactly_retained": true,
+    "saved_float32_knots_exactly_match_final": true,
+    "twist_trajectory_iterations": 10,
+    "last_trajectory_loss": 9.069818588613998e-06,
+    "final_report_loss": 9.069817679119296e-06,
+    "final_minus_last_loss": -9.094947017729282e-13,
+    "loss_difference_float32_ulps": 1,
+    "loss_readback_note": "The last raw knots match exactly; the separately evaluated final loss differs by one float32 ULP. No scientific outputs or settings changed.",
+    "finite_surface_residuals": true,
+    "per_view_residual_summary_matches_arrays": true,
+    "residual_count": 39841
+  },
+  "reporting_corrections": [
+    "The task-local packaging helper now labels ribbon outside-mask-derived coverage as visible_surface_inside_mask_fraction and describes surface samples. Tube centerline labels are unchanged. The producer records visible_surface_samples for this case; no independent centerline coverage or silhouette IoU is claimed.",
+    "The saved residual_histograms.png x-axis inherits the label centerline residual. Its values are ribbon-surface distances; the stored array summaries match the final ribbon fit report. The scientific image and production source were preserved, with this correction recorded in the review packet."
+  ],
+  "observations": [
+    "The initial grey belt is an upright band with one hand_A grip. Its visible width and contour are coherent across all four native panels. The foreground arm hides a longer arc in view 0 and the lower-left arc in view 2; views 1 and 3 expose most of the loop with a small grip-covered segment.",
+    "The four centerline overlays stay near the middle of the visible band. Final ribbon silhouettes follow its visible width closely, with small local edge differences, including the grip-adjacent right edge in view 1. No gross width flip, wrong-loop displacement, collapse or self-crossing was observed.",
+    "The twist/width-direction plot and nine orbit frames show an upright, smooth band with modest continuous width-direction changes. The dense sampled twist range is -0.075271 to 0.156396 rad; mean absolute width-direction z is 0.994796. The rendered points are consistent with the open width edges, while topology and intersection claims come from the saved numerical mesh checks.",
+    "The depth-cloud and hybrid plots retain nearby lateral bands, a grip-region support gap and observations extending beyond the fitted width edges. Camera 23007103 has the largest median/p90 ribbon-surface residuals, 4.443/8.562 mm. Tails exceed 10 mm in views 0, 2 and 3; these are measurement/model residuals, not ground-truth errors.",
+    "Colors are observed for 420 of 450 mesh vertices and median-filled for 30, mainly near width edges and the hidden grip region. The hybrid population contains 39,841 observed and 21,600 mesh-derived seeds, total 61,441."
+  ],
+  "limitations": [
+    "The approved prior is a 25 mm zero-thickness open ribbon, not a watertight solid. Its two width boundaries are intentional; material thickness, teeth and interior particles are not represented. The hand-hidden segment remains inferred, and fitted geometric twist is not a measurement of material torsional stiffness.",
+    "Minimum ribbon z is -3.195676 mm relative to nominal table z=0, with maximum z 28.171232 mm. Belt-interior-minus-local-table median heights are 13.030, 12.676, 12.048 and 13.908 mm, consistent in scale with an upright 25 mm band but not a contact calibration. Depth spread and nominal-plane placement remain uncertain; no correction was applied.",
+    "Length is 664.335 mm within the 664-666 mm soft bounds, only 0.335 mm above the lower bound; the saved within-1-mm flag is true. Maximum curvature is 13.661/m and 35.6 percent of samples exceed the soft 10/m threshold. These are soft-loss diagnostics, not hard failure tests.",
+    "Stage 1 retained its single last round, stopping at gradient tolerance with norm 2.935554e-4. Stage 2 retained its last iterate after 10 iterations/33 evaluations, success true with relative-function-reduction stop and zero knots at the raw bound 3.451392 (physical twist bound plus/minus 0.8 pi). Solver success and the small final gradient do not establish a globally optimal or physically identified ribbon.",
+    "Visible projected surface-sample coverage is 96.95, 91.56, 93.85 and 96.53 percent by camera order. These are neither centerline coverage nor silhouette IoU. The point-to-ribbon-surface residuals are distinct from both mask coverage and ground-truth reconstruction error.",
+    "This is bounded initial-prior review: 22 actual images and nine selected frames out of 36. The previously completed temporal-reference review is linked, not repeated, and no dynamic-fit readiness is inferred.",
+    "Mesh vertices and appearance seeds are separate from mechanical particles. This prior run provides no post-prior mechanical particle count or unit-mass total, no trained appearance and no physical-fit result."
+  ],
+  "dynamic_measurement_limitations": [
+    "One visible positional observation from camera 12933256 query 160 is grossly isolated at derived sample 166 and remains displaced at sample 167. Its adjacent temporal pairs are invalid, but visibility remains true; this does not remove it as a positional/Chamfer target."
+  ],
+  "dynamic_measurement_trace": {
+    "source": "../review_v1/agent_findings.json",
+    "source_field": "isolated_point_trace",
+    "serial": "12933256",
+    "query_id": 160,
+    "native_window_rows": [
+      165,
+      166,
+      167
+    ],
+    "stored_depth_mm": [
+      1087,
+      1888,
+      1099
+    ],
+    "bad_converted_frame": 473,
+    "bad_native_container_frame": 474,
+    "derived_object_index": 739,
+    "displaced_derived_samples": [
+      166,
+      167
+    ],
+    "derived_sample_166_nearest_other_visible_point_distance_mm": 585.4088381507394,
+    "interpretation": "The raw stored-depth jump at window row 166 (converted frame 473, native-container frame 474) explains the two displaced derived samples. Lookup pixels move only from (841,255) to (843,258) to (843,260), with all three samples inside the eroded object, tracker-visible and admitted with zero rejection bits. Depths are 1087/1888/1099 mm. This supports a depth failure rather than a gross 2D tracking jump; the exact depth-estimator cause was not investigated. Existing local consistency checks passed. No point was removed or repaired.",
+    "initial_prior_scope": "The earlier reference review found the initial sample unaffected. Adjacent motion links being invalid does not remove the later visible positional/Chamfer targets. This review neither filters those measurements nor approves a physical fit."
+  }
+}

sessions/session_20260921_232242_960732/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json

@@ -0,0 +1,660 @@
+{
+  "session_id": "session_20260921_232242_960732",
+  "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232242_960732/window_anchor0307-0584/accepted_input_preparation_c6a_v1/prior_timing_v1",
+  "owner_prior_approval": "accepted",
+  "visual_quality_assessment": "not performed by this packager",
+  "object": {
+    "name": "grey_timing_belt",
+    "representation": "ribbon",
+    "fitter_source": "spline_estimation.timing_belt_fitting (scratch/test_timing_belt_perception.py)",
+    "dimension_source": "demonstrated 25 mm width; surface only, no interior (corpus Q1, 2026-10-25)",
+    "radius_m": null,
+    "ribbon_width_m": 0.025,
+    "step_t": 0.1,
+    "step_angle_deg": null,
+    "u_resolution": 5,
+    "overlap_rule": null,
+    "twist_penalty": {
+      "samples": 250,
+      "threshold_per_m": 10.0,
+      "huber_per_m": 30.0,
+      "cap_per_m": 80.0,
+      "weight": 5e-08
+    }
+  },
+  "initial_grid_sample": 0,
+  "views": [
+    {
+      "serial": "12540311",
+      "view_index": 0,
+      "selected_window_local_index": 0,
+      "converted_frame": 307,
+      "native_container_frame": 308,
+      "official_frame": 307,
+      "depth_frame": 307,
+      "capture_timestamp_ns": 1790047398746866754,
+      "device_timestamp_ns": 1790047398705519471,
+      "initial_grid_offset_ms": 4.905617,
+      "native_count": 278,
+      "initial_observed_depth_points": 7891,
+      "median_3d_residual_m": 0.0026837585028260946,
+      "p90_3d_residual_m": 0.006609618663787842,
+      "visible_surface_inside_mask_fraction": 0.9695467422096318,
+      "track_diagnostics": {
+        "T": 278,
+        "queries": 5000,
+        "keyframes": [
+          0,
+          29,
+          34,
+          69,
+          103,
+          138,
+          173,
+          207,
+          222,
+          242,
+          277
+        ],
+        "source_seed_counts": {
+          "object": 1703,
+          "hand_A": 3297,
+          "hand_B": 0
+        },
+        "tap_visible_fraction_min_mean_max": [
+          0.8992,
+          0.919989928057554,
+          1.0
+        ],
+        "accepted_object_min_max": [
+          802,
+          1201
+        ],
+        "paired_common_min_max": [
+          3805,
+          4495
+        ]
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